use all bp for avg vel

Project/Assets/ML-Agents/Examples/Walker/Scenes/WalkerDynamicVariableSpeed.unity

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

         rewardManager.UpdateReward("productOfAllRewards", matchSpeedReward * lookAtTargetReward);
     }
 
-    //Returns the average velocity of all the rigidbodies
-    Vector3 GetAvgVelocity()
-    {
-        Vector3 velSum = Vector3.zero;
-        Vector3 avgVel = Vector3.zero;
-        velSum += m_JdController.bodyPartsDict[head].rb.velocity;
-        velSum += m_JdController.bodyPartsDict[chest].rb.velocity;
-        velSum += m_JdController.bodyPartsDict[spine].rb.velocity;
-        velSum += m_JdController.bodyPartsDict[hips].rb.velocity;
-        avgVel = velSum / 4;
-        return avgVel;
-    }
+//    //Returns the average velocity of all the rigidbodies
-//
-//        //ALL RBS
-//        int numOfRB = 0;
-//        foreach (var item in m_JdController.bodyPartsList)
-//        {
-//            numOfRB++;
-//            velSum += item.rb.velocity;
-//        }
-//
-//        avgVel = velSum / numOfRB;
+//        velSum += m_JdController.bodyPartsDict[head].rb.velocity;
+//        velSum += m_JdController.bodyPartsDict[chest].rb.velocity;
+//        velSum += m_JdController.bodyPartsDict[spine].rb.velocity;
+//        velSum += m_JdController.bodyPartsDict[hips].rb.velocity;
+//        avgVel = velSum / 4;
+    Vector3 GetAvgVelocity()
+    {
+        Vector3 velSum = Vector3.zero;
+        Vector3 avgVel = Vector3.zero;
+
+        //ALL RBS
+        int numOfRB = 0;
+        foreach (var item in m_JdController.bodyPartsList)
+        {
+            numOfRB++;
+            velSum += item.rb.velocity;
+        }
+
+        avgVel = velSum / numOfRB;
+        return avgVel;
+    }
 
 //    public float headHeightOverFeetReward; //reward for standing up straight-ish
     public RewardManager rewardManager;

config/ppo/WalkerDynamicVariableSpeed.yaml

         strength: 1.0
     keep_checkpoints: 5
     max_steps: 30000000
-    time_horizon: 1000
+    time_horizon: 256 #1000
     summary_freq: 30000
     threaded: true

Project/Assets/ML-Agents/Examples/Walker/TFModels/20kAvgCoreVel50meterMax.meta

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Project/Assets/ML-Agents/Examples/Walker/TFModels/20kAvgCoreVel50meterMax/WalkerStatic.nn.meta

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