Add TargetController/OrientationCubeController Components & Bugfix (#4157)

* added Target and OCube controllers. updated crawler envs

* update walker prefab

* add refs to prefab

* Update Crawler.prefab

* update platform, ragdoll,  ocube prefabs

* reformat file

* reformat files

* fix behavior name

* add final retrained crawler and walker nn files

* collect hip ocube rot in world space

* update crawler observations and update prefabs

* change to 20M steps

* update crwl prefab to 142 observ

* update obsvs to 241. add expvel  reward

* change walkspeed to 3

* add new crawler and walker nn files

* adjust rewards

* enable other pairs

* add RewardManager

* cleanup about to do final training

* cleanup add nn files for increased facing rew reduced height rew

* try no facing rew

* add vel only policy, try dy target

* inc torq on cube

* added dynamic cube nn. gonna try 40M steps

* add 40M step test, more cleanup

* ch...

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

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

     Quaternion m_WalkDirLookRot; //Will hold the rotation to our target
 
     [Header("Target To Walk Towards")] [Space(10)]
-    public Transform target; //Target the agent will walk towards.
-
-    public float targetSpawnRadius; //The radius in which a target can be randomly spawned.
-    public bool detectTargets; //Should this agent detect targets
-    public bool respawnTargetWhenTouched; //Should the target respawn to a different position when touched
-
-    public Transform ground; //Ground gameobject. The height will be used for target spawning
+    public TargetController target; //Target the agent will walk towards.
 
     [Header("Body Parts")] [Space(10)] public Transform body;
     public Transform leg0Upper;
 
 
     [Header("Orientation")] [Space(10)]
-    //This will be used as a stable reference point for observations
-    //Because ragdolls can move erratically, using a standalone reference point can significantly improve learning
-    public GameObject orientationCube;
+    //This will be used as a stabilized model space reference point for observations
+    //Because ragdolls can move erratically during training, using a stabilized reference transform improves learning
+    public OrientationCubeController orientationCube;
 
     JointDriveController m_JdController;
 
 
     public override void Initialize()
     {
-        UpdateOrientationCube();
+        orientationCube.UpdateOrientation(body, target.transform);
 
         m_JdController = GetComponent<JointDriveController>();
 
     }
 
     /// <summary>
+    /// Loop over body parts and reset them to initial conditions.
+    /// </summary>
+    public override void OnEpisodeBegin()
+    {
+        foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+        {
+            bodyPart.Reset(bodyPart);
+        }
+
+        //Random start rotation to help generalize
+        transform.rotation = Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
+
+        orientationCube.UpdateOrientation(body, target.transform);
+    }
+
+    /// <summary>
-        sensor.AddObservation(bp.groundContact.touchingGround ? 1 : 0); // Whether the bp touching the ground
+        //GROUND CHECK
+        sensor.AddObservation(bp.groundContact.touchingGround); // Is this bp touching the ground
 
         //Get velocities in the context of our orientation cube's space
         //Note: You can get these velocities in world space as well but it may not train as well.
     /// </summary>
     public override void CollectObservations(VectorSensor sensor)
     {
+        //Add body rotation delta relative to orientation cube
-
+        
-        sensor.AddObservation(orientationCube.transform.InverseTransformPoint(target.position));
+        sensor.AddObservation(orientationCube.transform.InverseTransformPoint(target.transform.position));
 
         RaycastHit hit;
         float maxRaycastDist = 10;
     public void TouchedTarget()
     {
         AddReward(1f);
-        if (respawnTargetWhenTouched)
-        {
-            GetRandomTargetPos();
-        }
-    }
-
-    /// <summary>
-    /// Moves target to a random position within specified radius.
-    /// </summary>
-    public void GetRandomTargetPos()
-    {
-        var newTargetPos = Random.insideUnitSphere * targetSpawnRadius;
-        newTargetPos.y = 5;
-        target.position = newTargetPos + ground.position;
     }
 
     public override void OnActionReceived(float[] vectorAction)
         bpDict[leg3Lower].SetJointStrength(vectorAction[++i]);
     }
 
-    void UpdateOrientationCube()
-    {
-        //FACING DIR
-        m_WalkDir = target.position - orientationCube.transform.position;
-        m_WalkDir.y = 0; //flatten dir on the y
-        m_WalkDirLookRot = Quaternion.LookRotation(m_WalkDir); //get our look rot to the target
-
-        //UPDATE ORIENTATION CUBE POS & ROT
-        orientationCube.transform.position = body.position;
-        orientationCube.transform.rotation = m_WalkDirLookRot;
-    }
-
-        if (detectTargets)
-        {
-            foreach (var bodyPart in m_JdController.bodyPartsList)
-            {
-                if (bodyPart.targetContact && bodyPart.targetContact.touchingTarget)
-                {
-                    TouchedTarget();
-                }
-            }
-        }
-
-        UpdateOrientationCube();
+        orientationCube.UpdateOrientation(body, target.transform);
 
         // If enabled the feet will light up green when the foot is grounded.
         // This is just a visualization and isn't necessary for function
     void RewardFunctionTimePenalty()
     {
         AddReward(-0.001f);
-    }
-
-    /// <summary>
-    /// Loop over body parts and reset them to initial conditions.
-    /// </summary>
-    public override void OnEpisodeBegin()
-    {
-        foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
-        {
-            bodyPart.Reset(bodyPart);
-        }
-
-        //Random start rotation to help generalize
-        transform.rotation = Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
-
-        UpdateOrientationCube();
-