update crawler rewards and gravity

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

     public Material groundedMaterial;
     public Material unGroundedMaterial;
 
+    Vector3 m_DirToTarget;
+
+        m_DirToTarget = target.transform.position - body.position;
         m_JdController = GetComponent<JointDriveController>();
 
         //Setup each body part
         {
             bodyPart.Reset(bodyPart);
         }
+        if (m_DirToTarget != Vector3.zero)
+        {
+            transform.rotation = Quaternion.LookRotation(m_DirToTarget);
+        }
+        transform.Rotate(Vector3.up, Random.Range(0.0f, 360.0f));
-        transform.rotation = Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
+//        transform.rotation = Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
 
         orientationCube.UpdateOrientation(body, target.transform);
     }
     /// </summary>
     public void CollectObservationBodyPart(BodyPart bp, VectorSensor sensor)
     {
+
+        m_DirToTarget = target.transform.position - body.position;
         //GROUND CHECK
         sensor.AddObservation(bp.groundContact.touchingGround); // Is this bp touching the ground
 
     /// </summary>
     void RewardFunctionMovingTowards()
     {
-        var movingTowardsDot = Vector3.Dot(orientationCube.transform.forward,
-            Vector3.ClampMagnitude(m_JdController.bodyPartsDict[body].rb.velocity, maximumWalkingSpeed));
-        if (float.IsNaN(movingTowardsDot))
-        {
-            throw new ArgumentException(
-                "NaN in movingTowardsDot.\n" +
-                $" orientationCube.transform.forward: {orientationCube.transform.forward}\n"+
-                $" body.velocity: {m_JdController.bodyPartsDict[body].rb.velocity}\n"+
-                $" maximumWalkingSpeed: {maximumWalkingSpeed}"
-            );
-        }
+        //var movingTowardsDot = Vector3.Dot(orientationCube.transform.forward,
+        //    Vector3.ClampMagnitude(m_JdController.bodyPartsDict[body].rb.velocity, maximumWalkingSpeed));
+        //if (float.IsNaN(movingTowardsDot))
+        //{
+        //    throw new ArgumentException(
+        //        "NaN in movingTowardsDot.\n" +
+        //        $" orientationCube.transform.forward: {orientationCube.transform.forward}\n"+
+        //        $" body.velocity: {m_JdController.bodyPartsDict[body].rb.velocity}\n"+
+        //        $" maximumWalkingSpeed: {maximumWalkingSpeed}"
+        //    );
+        //}
+        var movingTowardsDot = Vector3.Dot(m_JdController.bodyPartsDict[body].rb.velocity, m_DirToTarget.normalized);
         AddReward(0.03f * movingTowardsDot);
     }
 
     void RewardFunctionFacingTarget()
     {
-        var facingReward = Vector3.Dot(orientationCube.transform.forward, body.forward);
-        if (float.IsNaN(facingReward))
-        {
-            throw new ArgumentException(
-                "NaN in movingTowardsDot.\n" +
-                $" orientationCube.transform.forward: {orientationCube.transform.forward}\n"+
-                $" body.forward: {body.forward}"
-            );
-        }
+        //var facingReward = Vector3.Dot(orientationCube.transform.forward, body.forward);
+        //if (float.IsNaN(facingReward))
+        //{
+        //    throw new ArgumentException(
+        //        "NaN in movingTowardsDot.\n" +
+        //        $" orientationCube.transform.forward: {orientationCube.transform.forward}\n"+
+        //        $" body.forward: {body.forward}"
+        //    );
+        //}
+
+        var facingReward = Vector3.Dot(m_DirToTarget.normalized, body.forward);
         AddReward(0.01f * facingReward);
     }
 

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

       propertyPath: m_Name
       value: OldCrawler
       objectReference: {fileID: 0}
+    - target: {fileID: 6234525248087620104, guid: 0456c89e8c9c243d595b039fe7aa0bf9,
+        type: 3}
+      propertyPath: m_IsActive
+      value: 0
+      objectReference: {fileID: 0}
     m_RemovedComponents:
     - {fileID: 4845971001715176649, guid: 0456c89e8c9c243d595b039fe7aa0bf9, type: 3}
   m_SourcePrefab: {fileID: 100100000, guid: 0456c89e8c9c243d595b039fe7aa0bf9, type: 3}

Project/Assets/ML-Agents/Examples/OldCrawler/Prefabs/OldFixedPlatform.prefab

       propertyPath: m_Name
       value: OldCrawler
       objectReference: {fileID: 0}
+    - target: {fileID: 6208443033207927858, guid: e24df050e78384b24b065a2b14effd14,
+        type: 3}
+      propertyPath: targetToLookAt
+      value: 
+      objectReference: {fileID: 4749909135913778}
     m_RemovedComponents: []
   m_SourcePrefab: {fileID: 100100000, guid: e24df050e78384b24b065a2b14effd14, type: 3}
 --- !u!4 &4245501741859669185 stripped

Project/Assets/ML-Agents/Examples/OldCrawler/Scenes/OldCrawlerStaticTarget.unity

   m_Script: {fileID: 11500000, guid: ec51f47c5ed0478080c449c74fd9c154, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  gravityMultiplier: 1
+  gravityMultiplier: 1.5
   fixedDeltaTime: 0.01333
   maximumDeltaTime: 0.15
   solverIterations: 12

Project/Assets/ML-Agents/Examples/OldCrawler/Scripts/OldCrawlerAgent.cs

 {
     [Header("Target To Walk Towards")]
     [Space(10)]
+    public float maximumWalkingSpeed = 999; //The max walk velocity magnitude an agent will be rewarded for
     public Transform target;
 
     public Transform ground;