oCube spawining works. ready to train

.gitignore

 
 # Python virtual environment
 venv/
+venv1_0/
 .mypy_cache/
 
 # Code coverage report

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

     //         avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
     //     }
     // }
+    
     void FixedUpdate()
     {
         if(Application.isPlaying)
                         if (showInverseTransformPointUnscaledRelToBody)
                         {
 //                            Debug.DrawRay(body_T.position + body_T.InverseTransformPoint(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
-                            Debug.DrawRay(body_T.position + body_T.InverseTransformPointUnscaled(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
+//                            Debug.DrawRay(body_T.position + body_T.InverseTransformPointUnscaled(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
+                            Debug.DrawRay(body_T.position + body_T.InverseTransformPointUnscaled(rb.transform.position), Vector3.up, Color.red,Time.fixedDeltaTime);
                         }
                         if (showInverseTransformPointRelToBody)
                         {

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

 
     EnvironmentParameters m_ResetParams;
 
+    private GameObject m_OrientationCube;
+        Vector3 oCubePos = hips.position;
+        oCubePos.y = -.45f;
+        m_OrientationCube = Instantiate(Resources.Load<GameObject>("OrientationCube"), oCubePos, Quaternion.identity);
+        m_OrientationCube.transform.SetParent(transform);
+        
+        
+        var texture = Resources.Load<Texture2D>("Textures/texture01");
+
         m_JdController = GetComponent<JointDriveController>();
         m_JdController.SetupBodyPart(hips);
         m_JdController.SetupBodyPart(chest);
         //GROUND CHECK
         sensor.AddObservation(bp.groundContact.touchingGround ? 1 : 0); // Is this bp touching the ground
         
-        //RELATIVE RB VELOCITY
-        var velocityRelativeToLookRotationToTarget = m_worldPosMatrix.inverse.MultiplyVector(bp.rb.velocity);
-        sensor.AddObservation(velocityRelativeToLookRotationToTarget);
+//        //RELATIVE RB VELOCITY
+//        var velocityRelativeToLookRotationToTarget = m_worldPosMatrix.inverse.MultiplyVector(bp.rb.velocity);
+//        sensor.AddObservation(velocityRelativeToLookRotationToTarget);
+//
+//        //RELATIVE RB ANGULAR VELOCITY
+//        var angularVelocityRelativeToLookRotationToTarget = m_worldPosMatrix.inverse.MultiplyVector(bp.rb.angularVelocity);
+//        sensor.AddObservation(angularVelocityRelativeToLookRotationToTarget);
-        //RELATIVE RB ANGULAR VELOCITY
-        var angularVelocityRelativeToLookRotationToTarget = m_worldPosMatrix.inverse.MultiplyVector(bp.rb.angularVelocity);
-        sensor.AddObservation(angularVelocityRelativeToLookRotationToTarget);
+        //RELATIVE RB VELOCITIES
+        sensor.AddObservation(m_OrientationCube.transform.InverseTransformVector(bp.rb.velocity));
+        sensor.AddObservation(m_OrientationCube.transform.InverseTransformVector(bp.rb.angularVelocity));
         
 //        sensor.AddObservation(rb.velocity);
 //        sensor.AddObservation(rb.angularVelocity);
         m_JdController.GetCurrentJointForces();
         
         // Update pos to target
-        m_WalkDir = target.position - hips.position;
+//        m_WalkDir = target.position - hips.position;
+        m_WalkDir = target.position - m_OrientationCube.transform.position;
         
         //FACING DIR
         m_WalkDirLookRot = Quaternion.LookRotation(m_WalkDir);
-        //ORIENTATION MATRIX
-        Vector3 worldPosMatrixPos = hips.position;
-        worldPosMatrixPos.y = .5f;
-        m_worldPosMatrix  = Matrix4x4.TRS(worldPosMatrixPos, Quaternion.identity, Vector3.one);
+        //UPDATE ORIENTATION CUBE POS & ROT
+        Vector3 oCubePos = hips.position;
+        oCubePos.y = -.45f;
+        m_OrientationCube.transform.position = oCubePos;
+        m_OrientationCube.transform.rotation = m_WalkDirLookRot;
+        
+        //HIP RAYCAST FOR HEIGHT
+        RaycastHit hit;
+        if (Physics.Raycast(hips.position, Vector3.down, out hit, 10.0f))
+        {
+            sensor.AddObservation(hit.distance);
+        }
+        else
+            sensor.AddObservation(10.0f);
+//        //ORIENTATION MATRIX
+//        Vector3 worldPosMatrixPos = hips.position;
+//        worldPosMatrixPos.y = .5f;
+//        m_worldPosMatrix  = Matrix4x4.TRS(worldPosMatrixPos, Quaternion.identity, Vector3.one);
-        sensor.AddObservation(hips.position - worldPosMatrixPos);
+//        sensor.AddObservation(hips.position - worldPosMatrixPos);
+        sensor.AddObservation(hips.position - m_OrientationCube.transform.position);
 //        sensor.AddObservation(m_JdController.bodyPartsDict[hips].rb.position);
         
 //        sensor.AddObservation(hips.forward);
         // b. Rotation alignment with goal direction.
         // c. Encourage head height.
         // d. Discourage head movement.
-        m_WalkDir = target.position - m_JdController.bodyPartsDict[hips].rb.position;
+        m_WalkDir = target.position - m_OrientationCube.transform.position;
-            + 0.01f * Vector3.Dot(m_WalkDir.normalized, hips.forward)
+            + 0.01f * Quaternion.Dot(m_OrientationCube.transform.rotation, hips.rotation)
+        
+//        m_WalkDir = target.position - m_JdController.bodyPartsDict[hips].rb.position;
+//        AddReward(
+//            +0.03f * Vector3.Dot(m_WalkDir.normalized, m_JdController.bodyPartsDict[hips].rb.velocity)
+//            + 0.01f * Vector3.Dot(m_WalkDir.normalized, hips.forward)
+//            + 0.02f * (head.position.y - hips.position.y)
+//            - 0.01f * Vector3.Distance(m_JdController.bodyPartsDict[head].rb.velocity,
+//                m_JdController.bodyPartsDict[hips].rb.velocity)
+//        );
     }
 
     /// <summary>

Project/ProjectSettings/DynamicsManager.asset

   m_LayerCollisionMatrix: ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffebffffffddffffffeffffffff5fffffffbffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff
   m_AutoSimulation: 1
   m_AutoSyncTransforms: 1
-  m_ReuseCollisionCallbacks: 0
+  m_ReuseCollisionCallbacks: 1
   m_ClothInterCollisionSettingsToggle: 0
   m_ContactPairsMode: 0
   m_BroadphaseType: 0

Project/ProjectSettings/ProjectVersion.txt

-m_EditorVersion: 2018.4.17f1
+m_EditorVersion: 2018.4.18f1

Project/Assets/ML-Agents/Examples/SharedAssets/Resources/OrientationCube.prefab

   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
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-  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0.012, y: 0.10131, z: 0}
+  m_LocalRotation: {x: -0, y: -0.7071066, z: -0, w: 0.707107}
+  m_LocalPosition: {x: 0.08911133, y: 0.101310015, z: -0.07713318}
   m_LocalScale: {x: 0.7764428, y: 0.7764428, z: 0.7764428}
   m_Children:
   - {fileID: 3256674261123397973}
-  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+  m_LocalEulerAnglesHint: {x: 0, y: -90.00001, z: 0}
 --- !u!1 &3258603775602446353
 GameObject:
   m_ObjectHideFlags: 0

Project/Assets/ML-Agents/Examples/SharedAssets/Resources.meta

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+folderAsset: yes
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+  externalObjects: {}
+  userData: 
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+  assetBundleVariant: 

Project/ProjectSettings/NetworkManager.asset

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+%TAG !u! tag:unity3d.com,2011:
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