clean up

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

     public class ProjectSettingsOverrides : MonoBehaviour
     {
         // Original values
-
         Vector3 m_OriginalGravity;
         float m_OriginalFixedDeltaTime;
         float m_OriginalMaximumDeltaTime;
         public int solverIterations = 6;
         [Tooltip("Affects how accurately the Rigidbody joints and collision contacts are resolved. (default 1). Must be positive.")]
         public int solverVelocityIterations = 1;
-//        [Tooltip("Simulation in the scene is consistent regardless the actors present, provided that the game inserts the actors in a deterministic order.")]
-//        public bool useEnhancedDeterminism = false;
         [Tooltip("Determines whether the garbage collector should reuse only a single instance of a Collision type for all collision callbacks. Reduces Garbage.")]
         public bool reuseCollisionCallbacks = true;
 

Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgentDynamic.cs

     [Space(10)]
     [Header("Specific to Walker")]
     public float maximumWalkingSpeed = 999; //The max walk velocity magnitude an agent will be rewarded for
+    Vector3 m_WalkDir;
+    Quaternion m_WalkDirLookRot;
+    [Space(10)]
-    public bool showOrientationCubeGizmo = true;
-    Vector3 m_WalkDir;
-    Quaternion m_WalkDirLookRot;
     
     [Header("Target To Walk Towards")]
     [Space(10)]
         sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(bp.rb.velocity));
         sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(bp.rb.angularVelocity));
         
-        
-        sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(bp.rb.position - hips.position));  //best
+        //Get position relative to hips in the context of our orientation cube's space
+        sensor.AddObservation(m_OrientationCube.transform.InverseTransformPoint(bp.rb.position));  //best
+//        sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(bp.rb.position - hips.position));  //best
 
         if (bp.rb.transform != hips && bp.rb.transform != handL && bp.rb.transform != handR)
         {
     {
         m_ChestRb.mass = m_ResetParams.GetWithDefault("chest_mass", 8);
         m_SpineRb.mass = m_ResetParams.GetWithDefault("spine_mass", 10);
-//        m_HipsRb.mass = m_ResetParams.GetWithDefault("hip_mass", 12);
         m_HipsRb.mass = m_ResetParams.GetWithDefault("hip_mass", 15);
     }
 
 
     private void OnDrawGizmosSelected()
     {
-        if (showOrientationCubeGizmo && Application.isPlaying)
+        if (Application.isPlaying)
         {   
             Gizmos.color = Color.green;
             Gizmos.matrix = m_OrientationCube.transform.localToWorldMatrix;