start dynamic cleanup and more debug for NaNs

Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/JointDriveController.cs

         {
             if (float.IsNaN(x) || float.IsNaN(y) || float.IsNaN(z))
             {
+                joint.targetRotation = Quaternion.identity;
-//                return;
-            }
-            else
-            {
-                Debug.Log($"Action on {rb.name}: x:{x}, y:{y}, z:{z}, FrameCount:{Time.frameCount}");
-                
+                return;
+//            else
+//            {
+//                Debug.Log($"Action on {rb.name}: x:{x}, y:{y}, z:{z}, FrameCount:{Time.frameCount}");
+//                
+//            }
             
             x = (x + 1f) * 0.5f;
             y = (y + 1f) * 0.5f;
             var yRot = Mathf.Lerp(-joint.angularYLimit.limit, joint.angularYLimit.limit, y);
             var zRot = Mathf.Lerp(-joint.angularZLimit.limit, joint.angularZLimit.limit, z);
 
-            currentXNormalizedRot =
-                Mathf.InverseLerp(joint.lowAngularXLimit.limit, joint.highAngularXLimit.limit, xRot);
-            currentYNormalizedRot = Mathf.InverseLerp(-joint.angularYLimit.limit, joint.angularYLimit.limit, yRot);
-            currentZNormalizedRot = Mathf.InverseLerp(-joint.angularZLimit.limit, joint.angularZLimit.limit, zRot);
+//            currentXNormalizedRot =
+//                Mathf.InverseLerp(joint.lowAngularXLimit.limit, joint.highAngularXLimit.limit, xRot);
+//            currentYNormalizedRot = Mathf.InverseLerp(-joint.angularYLimit.limit, joint.angularYLimit.limit, yRot);
+//            currentZNormalizedRot = Mathf.InverseLerp(-joint.angularZLimit.limit, joint.angularZLimit.limit, zRot);
-            currentEularJointRotation = new Vector3(xRot, yRot, zRot);
+//            currentEularJointRotation = new Vector3(xRot, yRot, zRot);
+            strength = float.IsNaN(strength)? thisJdController.maxJointForceLimit: Mathf.Clamp(strength, -1f, 1f);
             var rawVal = (strength + 1f) * 0.5f * thisJdController.maxJointForceLimit;
 //            var remappedVal = Mathf.InverseLerp(1, 1, strength); 
             JointDrive jd = joint.slerpDrive;

Project/Assets/ML-Agents/Examples/Walker/Scenes/WalkerDynamic.unity

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       propertyPath: m_Name
       value: WalkerVariableSpeedPair (7)
       objectReference: {fileID: 0}
+    - target: {fileID: 4281606851430919889, guid: 2cf62622451524665a92217adfa00e80,
+        type: 3}
+      propertyPath: m_IsActive
+      value: 1
+      objectReference: {fileID: 0}
     - target: {fileID: 4286325758371224431, guid: 2cf62622451524665a92217adfa00e80,
         type: 3}
       propertyPath: m_LocalPosition.x
       propertyPath: m_Name
       value: WalkerVariableSpeedPair (1)
       objectReference: {fileID: 0}
+    - target: {fileID: 4281606851430919889, guid: 2cf62622451524665a92217adfa00e80,
+        type: 3}
+      propertyPath: m_IsActive
+      value: 1
+      objectReference: {fileID: 0}
     - target: {fileID: 4286325758371224431, guid: 2cf62622451524665a92217adfa00e80,
         type: 3}
       propertyPath: m_LocalPosition.x
         type: 3}
       propertyPath: m_Name
       value: WalkerVariableSpeedPair (4)
+      objectReference: {fileID: 0}
+    - target: {fileID: 4281606851430919889, guid: 2cf62622451524665a92217adfa00e80,
+        type: 3}
+      propertyPath: m_IsActive
+      value: 1
       objectReference: {fileID: 0}
     - target: {fileID: 4286325758371224431, guid: 2cf62622451524665a92217adfa00e80,
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config/ppo/WalkerDynamic.yaml

         gamma: 0.995
         strength: 1.0
     keep_checkpoints: 5
-    max_steps: 25000000
+    max_steps: 30000000
     time_horizon: 1000
     summary_freq: 30000
     threaded: true

Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerDynamic CL NoReset with HH.nn.meta

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