rebuilt crawler ragdoll to scale of 1

Project/Assets/ML-Agents/Examples/Crawler/Prefabs/DynamicPlatform.prefab.meta

 fileFormatVersion: 2
 guid: 0058b366f9d6d44a3ba35beb06b0174b
-NativeFormatImporter:
+PrefabImporter:
-  mainObjectFileID: 100100000
   userData: 
   assetBundleName: 
   assetBundleVariant: 

Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs

     public Transform leg3Lower;
 
     [Header("Joint Settings")] [Space(10)] JointDriveController m_JdController;
-    Vector3 m_DirToTarget;
     float m_MovingTowardsDot;
     float m_FacingDot;
 
     public override void Initialize()
     {
         //Spawn an orientation cube
-        Vector3 oCubePos = hips.position;
+        Vector3 oCubePos = body.position;
-        m_DirToTarget = target.position - body.position;
 
         //Setup each body part
         m_JdController.SetupBodyPart(body);
     /// </summary>
     void RewardFunctionMovingTowards()
     {
-        m_MovingTowardsDot = Vector3.Dot(m_JdController.bodyPartsDict[body].rb.velocity, m_DirToTarget.normalized);
+        m_MovingTowardsDot = Vector3.Dot(m_OrientationCube.transform.forward, m_JdController.bodyPartsDict[body].rb.velocity);
         AddReward(0.03f * m_MovingTowardsDot);
     }
 
     void RewardFunctionFacingTarget()
     {
-        m_FacingDot = Vector3.Dot(m_DirToTarget.normalized, body.forward);
-        AddReward(0.01f * m_FacingDot);
+        AddReward(0.01f * Vector3.Dot(m_OrientationCube.transform.forward, body.forward));
     }
 
     /// <summary>
     /// </summary>
     public override void OnEpisodeBegin()
     {
-        if (m_DirToTarget != Vector3.zero)
-        {
-            transform.rotation = Quaternion.LookRotation(m_DirToTarget);
-        }
-        transform.Rotate(Vector3.up, Random.Range(0.0f, 360.0f));
-
+        transform.Rotate(Vector3.up, Random.Range(0.0f, 360.0f));
+
+        }
+    }
+    
+    private void OnDrawGizmosSelected()
+    {
+        if (Application.isPlaying)
+        {   
+            Gizmos.color = Color.green;
+            Gizmos.matrix = m_OrientationCube.transform.localToWorldMatrix;
+            Gizmos.DrawWireCube(Vector3.zero, m_OrientationCube.transform.localScale);
+            Gizmos.DrawRay(Vector3.zero, Vector3.forward);
         }
     }
 }