Revamp Crawler & Walker (#841)

* Revamps agent code for walker and crawler environments to use shared JointDriveController system.
* Crawler has been reworked to be very cute.
* Crawler & Walker environments have been reworked to be visually consistent.
* Added Dynamic Crawler scene.
* All scenes re-trained and new models added.
* Documentation changes.

.gitignore

 /unity-environment/[Uu]nity[Pp]ackage[Mm]anager/
 /unity-environment/Assets/AssetStoreTools*
 /unity-environment/Assets/Plugins*
+/unity-environment/Assets/Gizmos*
 
 # Tensorflow Model Info
 /models

docs/Learning-Environment-Examples.md

 ![Crawler](images/crawler.png)
 
 * Set-up: A creature with 4 arms and 4 forearms.
-* Goal: The agents must move its body along the x axis without falling.
+* Goal: The agents must move its body toward the goal direction without falling.
+    * `CrawlerStaticTarget` - Goal direction is always forward.
+    * `CrawlerDynamicTarget`- Goal direction is randomized.
-    * +1 times velocity in the x direction
-    * -1 for falling.
-    * -0.01 times the action squared
-    * -0.05 times y position change
-    * -0.05 times velocity in the z direction 
+    * +0.03 times body velocity in the goal direction.
+    * +0.01 times body direction alignment with goal direction.
-    * Vector Action space: (Continuous) Size of 12, corresponding to torque applicable to 12 joints. 
+    * Vector Action space: (Continuous) Size of 20, corresponding to target rotations for joints. 
     * Visual Observations: None.
 * Reset Parameters: None
 * Benchmark Mean Reward: 2000

python/trainer_config.yaml

     gamma: 0.995
     max_steps: 1e6
     summary_freq: 3000
+    num_layers: 3
+    hidden_units: 512
 
 WalkerBrain:
     normalize: true
     buffer_size: 20480
-    beta: 0.001
-    num_layers: 2
-    hidden_units: 256
+    num_layers: 3
+    hidden_units: 512
 
 ReacherBrain:
     normalize: true

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unity-environment/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAcademy.cs

     public override void InitializeAcademy()
     {
         Monitor.verticalOffset = 1f;
+        Physics.defaultSolverIterations = 12;
+        Physics.defaultSolverVelocityIterations = 12;
+        Time.fixedDeltaTime = 0.01333f; // (75fps). default is .2 (60fps)
+        Time.maximumDeltaTime = .15f; // Default is .33
-
-
-
-
     }
 }

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unity-environment/Assets/ML-Agents/Examples/SharedAssets/Scripts/GroundContact.cs

 
 namespace MLAgents
 {
-
+    [DisallowMultipleComponent]
-        public Agent agent;
-        public float contactPenalty;
-        public bool touchingGround;
-        public bool penalizeOnContact;
-        private const string Ground = "ground";
+        [HideInInspector] public Agent agent;
-        /// <summary>
-        /// Obtain reference to agent.
-        /// </summary>
-        void Start()
-        {
-            agent = transform.root.GetComponent<Agent>();
-        }
+        [Header("Ground Check")] public bool agentDoneOnGroundContact; // Whether to reset agent on ground contact.
+        public bool penalizeGroundContact; // Whether to penalize on contact.
+        public float groundContactPenalty; // Penalty amount (ex: -1).
+        public bool touchingGround;
+        private const string Ground = "ground"; // Tag of ground object.
-        void OnCollisionEnter(Collision other)
+        void OnCollisionEnter(Collision col)
-            if (other.transform.CompareTag(Ground))
+            if (col.transform.CompareTag(Ground))
-                if (penalizeOnContact)
+                if (penalizeGroundContact)
+                {
+                    agent.SetReward(groundContactPenalty);
+                }
+
+                if (agentDoneOnGroundContact)
-                    agent.SetReward(contactPenalty);
                 }
             }
         }

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unity-environment/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAcademy.cs

     public override void InitializeAcademy()
     {
         Monitor.verticalOffset = 1f;
-        
+
+        Time.fixedDeltaTime = 0.01333f; //(75fps). default is .2 (60fps)
+        Time.maximumDeltaTime = .15f; // Default is .33
-
-
     }
 }

unity-environment/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs

 
 public class WalkerAgent : Agent
 {
-    [Header("Specific to Walker")] 
-    public Vector3 goalDirection;
+    [Header("Specific to Walker")] [Header("Target To Walk Towards")] [Space(10)]
+    public Transform target;
+
+    Vector3 dirToTarget;
     public Transform hips;
     public Transform chest;
     public Transform spine;
     public Transform armR;
     public Transform forearmR;
     public Transform handR;
-    public Dictionary<Transform, BodyPart> bodyParts = new Dictionary<Transform, BodyPart>();
-
-    /// <summary>
-    /// Used to store relevant information for acting and learning for each body part in agent.
-    /// </summary>
-    [System.Serializable]
-    public class BodyPart
-    {
-        public ConfigurableJoint joint;
-        public Rigidbody rb;
-        public Vector3 startingPos;
-        public Quaternion startingRot;
-        public GroundContact groundContact;
-
-        /// <summary>
-        /// Reset body part to initial configuration.
-        /// </summary>
-        public void Reset()
-        {
-            rb.transform.position = startingPos;
-            rb.transform.rotation = startingRot;
-            rb.velocity = Vector3.zero;
-            rb.angularVelocity = Vector3.zero;
-        }
-        
-        /// <summary>
-        /// Apply torque according to defined goal `x, y, z` angle and force `strength`.
-        /// </summary>
-        public void SetNormalizedTargetRotation(float x, float y, float z, float strength)
-        {
-            // Transform values from [-1, 1] to [0, 1]
-            x = (x + 1f) * 0.5f;
-            y = (y + 1f) * 0.5f;
-            z = (z + 1f) * 0.5f;
-
-            var xRot = Mathf.Lerp(joint.lowAngularXLimit.limit, joint.highAngularXLimit.limit, x);
-            var yRot = Mathf.Lerp(-joint.angularYLimit.limit, joint.angularYLimit.limit, y);
-            var zRot = Mathf.Lerp(-joint.angularZLimit.limit, joint.angularZLimit.limit, z);
-
-            joint.targetRotation = Quaternion.Euler(xRot, yRot, zRot);
-            var jd = new JointDrive
-            {
-                positionSpring = ((strength + 1f) * 0.5f) * 10000f,
-                maximumForce = 250000f
-            };
-            joint.slerpDrive = jd;
-        }
-
-    }
-
-    /// <summary>
-    /// Create BodyPart object and add it to dictionary.
-    /// </summary>
-    public void SetupBodyPart(Transform t)
-    {
-        BodyPart bp = new BodyPart
-        {
-            rb = t.GetComponent<Rigidbody>(),
-            joint = t.GetComponent<ConfigurableJoint>(),
-            startingPos = t.position,
-            startingRot = t.rotation
-        };
-        bodyParts.Add(t, bp);
-        bp.groundContact = t.GetComponent<GroundContact>();
-    }
+    JointDriveController jdController;
+    bool isNewDecisionStep;
+    int currentDecisionStep;
-        SetupBodyPart(hips);
-        SetupBodyPart(chest);
-        SetupBodyPart(spine);
-        SetupBodyPart(head);
-        SetupBodyPart(thighL);
-        SetupBodyPart(shinL);
-        SetupBodyPart(footL);
-        SetupBodyPart(thighR);
-        SetupBodyPart(shinR);
-        SetupBodyPart(footR);
-        SetupBodyPart(armL);
-        SetupBodyPart(forearmL);
-        SetupBodyPart(handL);
-        SetupBodyPart(armR);
-        SetupBodyPart(forearmR);
-        SetupBodyPart(handR);
-    }
-
-    /// <summary>
-    /// Obtains joint rotation (in Quaternion) from joint. 
-    /// </summary>
-    public static Quaternion GetJointRotation(ConfigurableJoint joint)
-    {
-        return (Quaternion.FromToRotation(joint.axis, joint.connectedBody.transform.rotation.eulerAngles));
+        jdController = GetComponent<JointDriveController>();
+        jdController.SetupBodyPart(hips);
+        jdController.SetupBodyPart(chest);
+        jdController.SetupBodyPart(spine);
+        jdController.SetupBodyPart(head);
+        jdController.SetupBodyPart(thighL);
+        jdController.SetupBodyPart(shinL);
+        jdController.SetupBodyPart(footL);
+        jdController.SetupBodyPart(thighR);
+        jdController.SetupBodyPart(shinR);
+        jdController.SetupBodyPart(footR);
+        jdController.SetupBodyPart(armL);
+        jdController.SetupBodyPart(forearmL);
+        jdController.SetupBodyPart(handL);
+        jdController.SetupBodyPart(armR);
+        jdController.SetupBodyPart(forearmR);
+        jdController.SetupBodyPart(handR);
     }
 
     /// <summary>
     {
         var rb = bp.rb;
         AddVectorObs(bp.groundContact.touchingGround ? 1 : 0); // Is this bp touching the ground
-        bp.groundContact.touchingGround = false;
-
-        if (bp.joint && (bp.rb.transform != handL && bp.rb.transform != handR))
+        if (bp.rb.transform != hips && bp.rb.transform != handL && bp.rb.transform != handR &&
+            bp.rb.transform != footL && bp.rb.transform != footR && bp.rb.transform != head)
-            var jointRotation = GetJointRotation(bp.joint);
-            AddVectorObs(jointRotation); // Get the joint rotation
+            AddVectorObs(bp.currentXNormalizedRot);
+            AddVectorObs(bp.currentYNormalizedRot);
+            AddVectorObs(bp.currentZNormalizedRot);
+            AddVectorObs(bp.currentStrength / jdController.maxJointForceLimit);
         }
     }
 
     public override void CollectObservations()
     {
-        AddVectorObs(goalDirection);
-        foreach (var bodyPart in bodyParts.Values)
+        jdController.GetCurrentJointForces();
+
+        AddVectorObs(dirToTarget.normalized);
+        AddVectorObs(jdController.bodyPartsDict[hips].rb.position);
+        AddVectorObs(hips.forward);
+        AddVectorObs(hips.up);
+
+        foreach (var bodyPart in jdController.bodyPartsDict.Values)
         {
             CollectObservationBodyPart(bodyPart);
         }
     {
+        dirToTarget = target.position - jdController.bodyPartsDict[hips].rb.position;
+
-        
-        bodyParts[chest].SetNormalizedTargetRotation(vectorAction[0], vectorAction[1], vectorAction[2],
-            vectorAction[26]);
-        bodyParts[spine].SetNormalizedTargetRotation(vectorAction[3], vectorAction[4], vectorAction[5],
-            vectorAction[27]);
+        if (isNewDecisionStep)
+        {
+            var bpDict = jdController.bodyPartsDict;
+            int i = -1;
+
+            bpDict[chest].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
+            bpDict[spine].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
+
+            bpDict[thighL].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+            bpDict[thighR].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+            bpDict[shinL].SetJointTargetRotation(vectorAction[++i], 0, 0);
+            bpDict[shinR].SetJointTargetRotation(vectorAction[++i], 0, 0);
+            bpDict[footR].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
+            bpDict[footL].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
-        bodyParts[thighL].SetNormalizedTargetRotation(vectorAction[6], vectorAction[7], 0, vectorAction[28]);
-        bodyParts[shinL].SetNormalizedTargetRotation(vectorAction[8], 0, 0, vectorAction[29]);
-        bodyParts[footL].SetNormalizedTargetRotation(vectorAction[9], vectorAction[10], vectorAction[11],
-            vectorAction[30]);
-        
-        bodyParts[thighR].SetNormalizedTargetRotation(vectorAction[12], vectorAction[13], 0, vectorAction[31]);
-        bodyParts[shinR].SetNormalizedTargetRotation(vectorAction[14], 0, 0, vectorAction[32]);
-        bodyParts[footR].SetNormalizedTargetRotation(vectorAction[15], vectorAction[16], vectorAction[17],
-            vectorAction[33]);
-        bodyParts[armL].SetNormalizedTargetRotation(vectorAction[18], vectorAction[19], 0, vectorAction[34]);
-        bodyParts[forearmL].SetNormalizedTargetRotation(vectorAction[20], 0, 0, vectorAction[34]);
-        
-        bodyParts[armR].SetNormalizedTargetRotation(vectorAction[21], vectorAction[22], 0, vectorAction[36]);
-        bodyParts[forearmR].SetNormalizedTargetRotation(vectorAction[23], 0, 0, vectorAction[37]);
-        
-        bodyParts[head].SetNormalizedTargetRotation(vectorAction[24], vectorAction[25], 0, vectorAction[38]);
+            bpDict[armL].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+            bpDict[armR].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+            bpDict[forearmL].SetJointTargetRotation(vectorAction[++i], 0, 0);
+            bpDict[forearmR].SetJointTargetRotation(vectorAction[++i], 0, 0);
+            bpDict[head].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+
+            //update joint strength settings
+            bpDict[chest].SetJointStrength(vectorAction[++i]);
+            bpDict[spine].SetJointStrength(vectorAction[++i]);
+            bpDict[head].SetJointStrength(vectorAction[++i]);
+            bpDict[thighL].SetJointStrength(vectorAction[++i]);
+            bpDict[shinL].SetJointStrength(vectorAction[++i]);
+            bpDict[footL].SetJointStrength(vectorAction[++i]);
+            bpDict[thighR].SetJointStrength(vectorAction[++i]);
+            bpDict[shinR].SetJointStrength(vectorAction[++i]);
+            bpDict[footR].SetJointStrength(vectorAction[++i]);
+            bpDict[armL].SetJointStrength(vectorAction[++i]);
+            bpDict[forearmL].SetJointStrength(vectorAction[++i]);
+            bpDict[armR].SetJointStrength(vectorAction[++i]);
+            bpDict[forearmR].SetJointStrength(vectorAction[++i]);
+        }
+
+        IncrementDecisionTimer();
 
         // Set reward for this step according to mixture of the following elements.
         // a. Velocity alignment with goal direction.
         AddReward(
-            + 0.03f * Vector3.Dot(goalDirection, bodyParts[hips].rb.velocity)
-            + 0.01f * Vector3.Dot(goalDirection, hips.forward)
-            + 0.01f * (head.position.y - hips.position.y)
-            - 0.01f * Vector3.Distance(bodyParts[head].rb.velocity, bodyParts[hips].rb.velocity)
+            +0.03f * Vector3.Dot(dirToTarget.normalized, jdController.bodyPartsDict[hips].rb.velocity)
+            + 0.01f * Vector3.Dot(dirToTarget.normalized, hips.forward)
+            + 0.02f * (head.position.y - hips.position.y)
+            - 0.01f * Vector3.Distance(jdController.bodyPartsDict[head].rb.velocity,
+                jdController.bodyPartsDict[hips].rb.velocity)
+    /// Only change the joint settings based on decision frequency.
+    /// </summary>
+    public void IncrementDecisionTimer()
+    {
+        if (currentDecisionStep == agentParameters.numberOfActionsBetweenDecisions ||
+            agentParameters.numberOfActionsBetweenDecisions == 1)
+        {
+            currentDecisionStep = 1;
+            isNewDecisionStep = true;
+        }
+        else
+        {
+            currentDecisionStep++;
+            isNewDecisionStep = false;
+        }
+    }
+
+    /// <summary>
-        transform.rotation = Quaternion.LookRotation(goalDirection);
-        
-        foreach (var bodyPart in bodyParts.Values)
+        if (dirToTarget != Vector3.zero)
-            bodyPart.Reset();
+            transform.rotation = Quaternion.LookRotation(dirToTarget);
+
+        foreach (var bodyPart in jdController.bodyPartsDict.Values)
+        {
+            bodyPart.Reset(bodyPart);
+        }
+
+        isNewDecisionStep = true;
+        currentDecisionStep = 1;
     }
 }

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unity-environment/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using MLAgents;
+
+[RequireComponent(typeof(JointDriveController))] // Required to set joint forces
+public class CrawlerAgent : Agent
+{
+    [Header("Target To Walk Towards")] [Space(10)]
+    public Transform target;
+
+    public Transform ground;
+    public bool detectTargets;
+    public bool respawnTargetWhenTouched;
+    public float targetSpawnRadius;
+
+    [Header("Body Parts")] [Space(10)] public Transform body;
+    public Transform leg0Upper;
+    public Transform leg0Lower;
+    public Transform leg1Upper;
+    public Transform leg1Lower;
+    public Transform leg2Upper;
+    public Transform leg2Lower;
+    public Transform leg3Upper;
+    public Transform leg3Lower;
+
+    [Header("Joint Settings")] [Space(10)] JointDriveController jdController;
+    Vector3 dirToTarget;
+    float movingTowardsDot;
+    float facingDot;
+
+    [Header("Reward Functions To Use")] [Space(10)]
+    public bool rewardMovingTowardsTarget; // Agent should move towards target
+
+    public bool rewardFacingTarget; // Agent should face the target
+    public bool rewardUseTimePenalty; // Hurry up
+
+    [Header("Foot Grounded Visualization")] [Space(10)]
+    public bool useFootGroundedVisualization;
+
+    public MeshRenderer foot0;
+    public MeshRenderer foot1;
+    public MeshRenderer foot2;
+    public MeshRenderer foot3;
+    public Material groundedMaterial;
+    public Material unGroundedMaterial;
+    bool isNewDecisionStep;
+    int currentDecisionStep;
+
+    public override void InitializeAgent()
+    {
+        jdController = GetComponent<JointDriveController>();
+        currentDecisionStep = 1;
+
+        //Setup each body part
+        jdController.SetupBodyPart(body);
+        jdController.SetupBodyPart(leg0Upper);
+        jdController.SetupBodyPart(leg0Lower);
+        jdController.SetupBodyPart(leg1Upper);
+        jdController.SetupBodyPart(leg1Lower);
+        jdController.SetupBodyPart(leg2Upper);
+        jdController.SetupBodyPart(leg2Lower);
+        jdController.SetupBodyPart(leg3Upper);
+        jdController.SetupBodyPart(leg3Lower);
+    }
+
+    /// <summary>
+    /// We only need to change the joint settings based on decision freq.
+    /// </summary>
+    public void IncrementDecisionTimer()
+    {
+        if (currentDecisionStep == agentParameters.numberOfActionsBetweenDecisions
+            || agentParameters.numberOfActionsBetweenDecisions == 1)
+        {
+            currentDecisionStep = 1;
+            isNewDecisionStep = true;
+        }
+        else
+        {
+            currentDecisionStep++;
+            isNewDecisionStep = false;
+        }
+    }
+
+    /// <summary>
+    /// Add relevant information on each body part to observations.
+    /// </summary>
+    public void CollectObservationBodyPart(BodyPart bp)
+    {
+        var rb = bp.rb;
+        AddVectorObs(bp.groundContact.touchingGround ? 1 : 0); // Whether the bp touching the ground
+        AddVectorObs(rb.velocity);
+        AddVectorObs(rb.angularVelocity);
+
+        if (bp.rb.transform != body)
+        {
+            Vector3 localPosRelToBody = body.InverseTransformPoint(rb.position);
+            AddVectorObs(localPosRelToBody);
+            AddVectorObs(bp.currentXNormalizedRot); // Current x rot
+            AddVectorObs(bp.currentYNormalizedRot); // Current y rot
+            AddVectorObs(bp.currentZNormalizedRot); // Current z rot
+            AddVectorObs(bp.currentStrength / jdController.maxJointForceLimit);
+        }
+    }
+
+    public override void CollectObservations()
+    {
+        jdController.GetCurrentJointForces();
+        // Normalize dir vector to help generalize
+        AddVectorObs(dirToTarget.normalized);
+
+        // Forward & up to help with orientation
+        AddVectorObs(body.transform.position.y);
+        AddVectorObs(body.forward);
+        AddVectorObs(body.up);
+        foreach (var bodyPart in jdController.bodyPartsDict.Values)
+        {
+            CollectObservationBodyPart(bodyPart);
+        }
+    }
+
+    /// <summary>
+    /// Agent touched the target
+    /// </summary>
+    public void TouchedTarget()
+    {
+        AddReward(1f);
+        if (respawnTargetWhenTouched)
+        {
+            GetRandomTargetPos();
+        }
+    }
+
+    /// <summary>
+    /// Moves target to a random position within specified radius.
+    /// </summary>
+    public void GetRandomTargetPos()
+    {
+        Vector3 newTargetPos = Random.insideUnitSphere * targetSpawnRadius;
+        newTargetPos.y = 5;
+        target.position = newTargetPos + ground.position;
+    }
+
+    public override void AgentAction(float[] vectorAction, string textAction)
+    {
+        if (detectTargets)
+        {
+            foreach (var bodyPart in jdController.bodyPartsDict.Values)
+            {
+                if (bodyPart.targetContact && !IsDone() && bodyPart.targetContact.touchingTarget)
+                {
+                    TouchedTarget();
+                }
+            }
+        }
+
+        // Update pos to target
+        dirToTarget = target.position - jdController.bodyPartsDict[body].rb.position;
+
+        // If enabled the feet will light up green when the foot is grounded.
+        // This is just a visualization and isn't necessary for function
+        if (useFootGroundedVisualization)
+        {
+            foot0.material = jdController.bodyPartsDict[leg0Lower].groundContact.touchingGround
+                ? groundedMaterial
+                : unGroundedMaterial;
+            foot1.material = jdController.bodyPartsDict[leg1Lower].groundContact.touchingGround
+                ? groundedMaterial
+                : unGroundedMaterial;
+            foot2.material = jdController.bodyPartsDict[leg2Lower].groundContact.touchingGround
+                ? groundedMaterial
+                : unGroundedMaterial;
+            foot3.material = jdController.bodyPartsDict[leg3Lower].groundContact.touchingGround
+                ? groundedMaterial
+                : unGroundedMaterial;
+        }
+
+        // Joint update logic only needs to happen when a new decision is made
+        if (isNewDecisionStep)
+        {
+            // The dictionary with all the body parts in it are in the jdController
+            var bpDict = jdController.bodyPartsDict;
+
+            int i = -1;
+            // Pick a new target joint rotation
+            bpDict[leg0Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+            bpDict[leg1Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+            bpDict[leg2Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+            bpDict[leg3Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+            bpDict[leg0Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+            bpDict[leg1Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+            bpDict[leg2Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+            bpDict[leg3Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+
+            // Update joint strength
+            bpDict[leg0Upper].SetJointStrength(vectorAction[++i]);
+            bpDict[leg1Upper].SetJointStrength(vectorAction[++i]);
+            bpDict[leg2Upper].SetJointStrength(vectorAction[++i]);
+            bpDict[leg3Upper].SetJointStrength(vectorAction[++i]);
+            bpDict[leg0Lower].SetJointStrength(vectorAction[++i]);
+            bpDict[leg1Lower].SetJointStrength(vectorAction[++i]);
+            bpDict[leg2Lower].SetJointStrength(vectorAction[++i]);
+            bpDict[leg3Lower].SetJointStrength(vectorAction[++i]);
+        }
+
+        // Set reward for this step according to mixture of the following elements.
+        if (rewardMovingTowardsTarget)
+        {
+            RewardFunctionMovingTowards();
+        }
+
+        if (rewardFacingTarget)
+        {
+            RewardFunctionFacingTarget();
+        }
+
+        if (rewardUseTimePenalty)
+        {
+            RewardFunctionTimePenalty();
+        }
+
+        IncrementDecisionTimer();
+    }
+
+    /// <summary>
+    /// Reward moving towards target & Penalize moving away from target.
+    /// </summary>
+    void RewardFunctionMovingTowards()
+    {
+        movingTowardsDot = Vector3.Dot(jdController.bodyPartsDict[body].rb.velocity, dirToTarget.normalized);
+        AddReward(0.03f * movingTowardsDot);
+    }
+
+    /// <summary>
+    /// Reward facing target & Penalize facing away from target
+    /// </summary>
+    void RewardFunctionFacingTarget()
+    {
+        facingDot = Vector3.Dot(dirToTarget.normalized, body.forward);
+        AddReward(0.01f * facingDot);
+    }
+
+    /// <summary>
+    /// Existential penalty for time-contrained tasks.
+    /// </summary>
+    void RewardFunctionTimePenalty()
+    {
+        AddReward(-0.001f);
+    }
+
+    /// <summary>
+    /// Loop over body parts and reset them to initial conditions.
+    /// </summary>
+    public override void AgentReset()
+    {
+        if (dirToTarget != Vector3.zero)
+        {
+            transform.rotation = Quaternion.LookRotation(dirToTarget);
+        }
+
+        foreach (var bodyPart in jdController.bodyPartsDict.Values)
+        {
+            bodyPart.Reset(bodyPart);
+        }
+
+        isNewDecisionStep = true;
+        currentDecisionStep = 1;
+    }
+}

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unity-environment/Assets/ML-Agents/Examples/SharedAssets/Scripts/AdjustTrainingTimescale.cs

+//This script lets you change time scale during training. It is not a required script for this demo to function
+
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace  MLAgents
+{
+    
+    public class AdjustTrainingTimescale : MonoBehaviour {
+        
+        // Update is called once per frame
+        void Update ()
+        {
+            
+            if (Input.GetKeyDown(KeyCode.Alpha1))
+            {
+                Time.timeScale = 1f;
+            }
+            if (Input.GetKeyDown(KeyCode.Alpha2))
+            {
+                Time.timeScale = 2f;
+            }
+            if (Input.GetKeyDown(KeyCode.Alpha3))
+            {
+                Time.timeScale = 3f;
+            }
+            if (Input.GetKeyDown(KeyCode.Alpha4))
+            {
+                Time.timeScale = 4f;
+            }
+            if (Input.GetKeyDown(KeyCode.Alpha5))
+            {
+                Time.timeScale = 5f;
+            }
+            if (Input.GetKeyDown(KeyCode.Alpha6))
+            {
+                Time.timeScale = 6f;
+            }
+            if (Input.GetKeyDown(KeyCode.Alpha7))
+            {
+                Time.timeScale = 7f;
+            }
+            if (Input.GetKeyDown(KeyCode.Alpha8))
+            {
+                Time.timeScale = 8f;
+            }
+            if (Input.GetKeyDown(KeyCode.Alpha9))
+            {
+                Time.timeScale = 9f;
+            }
+            if (Input.GetKeyDown(KeyCode.Alpha0))
+            {
+                Time.timeScale *= 2f;
+            }
+        }
+    }
+}

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unity-environment/Assets/ML-Agents/Examples/SharedAssets/Scripts/JointDriveController.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace MLAgents
+{
+    /// <summary>
+    /// Used to store relevant information for acting and learning for each body part in agent.
+    /// </summary>
+    [System.Serializable]
+    public class BodyPart
+    {
+        [Header("Body Part Info")] [Space(10)] public ConfigurableJoint joint;
+        public Rigidbody rb;
+        [HideInInspector] public Vector3 startingPos;
+        [HideInInspector] public Quaternion startingRot;
+
+        [Header("Ground & Target Contact")] [Space(10)]
+        public GroundContact groundContact;
+
+        public TargetContact targetContact;
+
+        [HideInInspector] public JointDriveController thisJDController;
+
+        [Header("Current Joint Settings")] [Space(10)]
+        public Vector3 currentEularJointRotation;
+
+        [HideInInspector] public float currentStrength;
+        public float currentXNormalizedRot;
+        public float currentYNormalizedRot;
+        public float currentZNormalizedRot;
+
+        [Header("Other Debug Info")] [Space(10)]
+        public Vector3 currentJointForce;
+
+        public float currentJointForceSqrMag;
+        public Vector3 currentJointTorque;
+        public float currentJointTorqueSqrMag;
+        public AnimationCurve jointForceCurve = new AnimationCurve();
+        public AnimationCurve jointTorqueCurve = new AnimationCurve();
+
+        /// <summary>
+        /// Reset body part to initial configuration.
+        /// </summary>
+        public void Reset(BodyPart bp)
+        {
+            bp.rb.transform.position = bp.startingPos;
+            bp.rb.transform.rotation = bp.startingRot;
+            bp.rb.velocity = Vector3.zero;
+            bp.rb.angularVelocity = Vector3.zero;
+            if (bp.groundContact)
+            {
+                bp.groundContact.touchingGround = false;
+            }
+
+            if (bp.targetContact)
+            {
+                bp.targetContact.touchingTarget = false;
+            }
+        }
+
+        /// <summary>
+        /// Apply torque according to defined goal `x, y, z` angle and force `strength`.
+        /// </summary>
+        public void SetJointTargetRotation(float x, float y, float z)
+        {
+            x = (x + 1f) * 0.5f;
+            y = (y + 1f) * 0.5f;
+            z = (z + 1f) * 0.5f;
+
+            var xRot = Mathf.Lerp(joint.lowAngularXLimit.limit, joint.highAngularXLimit.limit, x);
+            var yRot = Mathf.Lerp(-joint.angularYLimit.limit, joint.angularYLimit.limit, y);
+            var zRot = Mathf.Lerp(-joint.angularZLimit.limit, joint.angularZLimit.limit, z);
+
+            currentXNormalizedRot =
+                Mathf.InverseLerp(joint.lowAngularXLimit.limit, joint.highAngularXLimit.limit, xRot);
+            currentYNormalizedRot = Mathf.InverseLerp(-joint.angularYLimit.limit, joint.angularYLimit.limit, yRot);
+            currentZNormalizedRot = Mathf.InverseLerp(-joint.angularZLimit.limit, joint.angularZLimit.limit, zRot);
+
+            joint.targetRotation = Quaternion.Euler(xRot, yRot, zRot);
+            currentEularJointRotation = new Vector3(xRot, yRot, zRot);
+        }
+
+        public void SetJointStrength(float strength)
+        {
+            var rawVal = (strength + 1f) * 0.5f * thisJDController.maxJointForceLimit;
+            var jd = new JointDrive
+            {
+                positionSpring = thisJDController.maxJointSpring,
+                positionDamper = thisJDController.jointDampen,
+                maximumForce = rawVal
+            };
+            joint.slerpDrive = jd;
+            currentStrength = jd.maximumForce;
+        }
+    }
+
+    public class JointDriveController : MonoBehaviour
+    {
+        [Header("Joint Drive Settings")] [Space(10)]
+        public float maxJointSpring;
+
+        public float jointDampen;
+        public float maxJointForceLimit;
+        float facingDot;
+
+        [HideInInspector] public Dictionary<Transform, BodyPart> bodyPartsDict = new Dictionary<Transform, BodyPart>();
+
+        [HideInInspector] public List<BodyPart> bodyPartsList = new List<BodyPart>();
+
+        /// <summary>
+        /// Create BodyPart object and add it to dictionary.
+        /// </summary>
+        public void SetupBodyPart(Transform t)
+        {
+            BodyPart bp = new BodyPart
+            {
+                rb = t.GetComponent<Rigidbody>(),
+                joint = t.GetComponent<ConfigurableJoint>(),
+                startingPos = t.position,
+                startingRot = t.rotation
+            };
+            bp.rb.maxAngularVelocity = 100;
+
+            // Add & setup the ground contact script
+            bp.groundContact = t.GetComponent<GroundContact>();
+            if (!bp.groundContact)
+            {
+                bp.groundContact = t.gameObject.AddComponent<GroundContact>();
+                bp.groundContact.agent = gameObject.GetComponent<Agent>();
+            }
+            else
+            {
+                bp.groundContact.agent = gameObject.GetComponent<Agent>();
+            }
+
+            // Add & setup the target contact script
+            bp.targetContact = t.GetComponent<TargetContact>();
+            if (!bp.targetContact)
+            {
+                bp.targetContact = t.gameObject.AddComponent<TargetContact>();
+            }
+
+            bp.thisJDController = this;
+            bodyPartsDict.Add(t, bp);
+            bodyPartsList.Add(bp);
+        }
+
+        public void GetCurrentJointForces()
+        {
+            foreach (var bodyPart in bodyPartsDict.Values)
+            {
+                if (bodyPart.joint)
+                {
+                    bodyPart.currentJointForce = bodyPart.joint.currentForce;
+                    bodyPart.currentJointForceSqrMag = bodyPart.joint.currentForce.magnitude;
+                    bodyPart.currentJointTorque = bodyPart.joint.currentTorque;
+                    bodyPart.currentJointTorqueSqrMag = bodyPart.joint.currentTorque.magnitude;
+                    if (Application.isEditor)
+                    {
+                        if (bodyPart.jointForceCurve.length > 1000)
+                        {
+                            bodyPart.jointForceCurve = new AnimationCurve();
+                        }
+
+                        if (bodyPart.jointTorqueCurve.length > 1000)
+                        {
+                            bodyPart.jointTorqueCurve = new AnimationCurve();
+                        }
+
+                        bodyPart.jointForceCurve.AddKey(Time.time, bodyPart.currentJointForceSqrMag);
+                        bodyPart.jointTorqueCurve.AddKey(Time.time, bodyPart.currentJointTorqueSqrMag);
+                    }
+                }
+            }
+        }
+    }
+}

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unity-environment/Assets/ML-Agents/Examples/SharedAssets/Scripts/TargetContact.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace MLAgents
+{
+    /// <summary>
+    /// This class contains logic for locomotion agents with joints which might make contact with a target.
+    /// By attaching this as a component to those joints, their contact with the ground can be used as
+    /// an observation for that agent.
+    /// </summary>
+    [DisallowMultipleComponent]
+    public class TargetContact : MonoBehaviour
+    {
+        [Header("Detect Targets")] public bool touchingTarget;
+        private const string Target = "target"; // Tag on target object.
+
+        /// <summary>
+        /// Check for collision with a target.
+        /// </summary>
+        void OnCollisionEnter(Collision col)
+        {
+            if (col.transform.CompareTag(Target))
+            {
+                touchingTarget = true;
+            }
+        }
+
+        /// <summary>
+        /// Check for end of ground collision and reset flag appropriately.
+        /// </summary>
+        void OnCollisionExit(Collision other)
+        {
+            if (other.transform.CompareTag(Target))
+            {
+                touchingTarget = false;
+            }
+        }
+    }
+}

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unity-environment/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerBodyContact.cs

-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class CrawlerBodyContact : MonoBehaviour {
-
-    CrawlerAgentConfigurable agent;
-
-    void Start(){
-        agent = gameObject.transform.parent.gameObject.GetComponent<CrawlerAgentConfigurable>();
-    }
-
-    void OnTriggerEnter(Collider other){
-        if (other.gameObject.name == "Ground")
-        {
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-        }
-    }
-}

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unity-environment/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerLegContact.cs

-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class CrawlerLegContact : MonoBehaviour {
-
-    public int index;
-    public CrawlerAgentConfigurable agent;
-
-    void Start(){
-
-    }
-
-    void OnCollisionStay(Collision other){
-        if (other.gameObject.name == "Ground")
-        {
-            agent.leg_touching[index] = true;
-        }
-    }
-
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unity-environment/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgentConfigurable.cs

-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-using MLAgents;
-
-public class CrawlerAgentConfigurable : Agent
-{
-
-    public float strength;
-    float x_position;
-    [HideInInspector]
-    public bool[] leg_touching;
-    [HideInInspector]
-    public bool fell;
-    Vector3 past_velocity;
-    Transform body;
-    Rigidbody bodyRB;
-    public Transform[] limbs;
-    Rigidbody[] limbRBs;
-    Dictionary<GameObject, Vector3> transformsPosition;
-    Dictionary<GameObject, Quaternion> transformsRotation;
-
-    public override void InitializeAgent()
-    {
-        body = transform.Find("Sphere");
-        bodyRB = body.GetComponent<Rigidbody>();
-        transformsPosition = new Dictionary<GameObject, Vector3>();
-        transformsRotation = new Dictionary<GameObject, Quaternion>();
-        Transform[] allChildren = GetComponentsInChildren<Transform>();
-        foreach (Transform child in allChildren)
-        {
-            transformsPosition[child.gameObject] = child.position;
-            transformsRotation[child.gameObject] = child.rotation;
-        }
-        leg_touching = new bool[4];
-        limbRBs = new Rigidbody[limbs.Length];
-        for (int i = 0; i < limbs.Length; i++)
-        {
-            limbRBs[i] = limbs[i].gameObject.GetComponent<Rigidbody>();
-        }
-    }
-
-    public override void CollectObservations()
-    {
-        AddVectorObs(body.transform.rotation.eulerAngles);
-
-        AddVectorObs(bodyRB.velocity);
-
-        AddVectorObs((bodyRB.velocity - past_velocity) / Time.fixedDeltaTime);
-        past_velocity = bodyRB.velocity;
-
-        for (int i = 0; i < limbs.Length; i++)
-        {
-            AddVectorObs(limbs[i].localPosition);
-            AddVectorObs(limbs[i].localRotation);
-            AddVectorObs(limbRBs[i].velocity);
-            AddVectorObs(limbRBs[i].angularVelocity);
-        }
-
-        for (int index = 0; index < 4; index++)
-        {
-            if (leg_touching[index])
-            {
-                AddVectorObs(1);
-            }
-            else
-            {
-                AddVectorObs(0);
-            }
-            leg_touching[index] = false;
-        }
-    }
-
-    public override void AgentAction(float[] vectorAction, string textAction)
-    {
-        var toUse = new float[vectorAction.Length];
-        var torquePenalty = 0f;
-        
-        for (int k = 0; k < vectorAction.Length; k++)
-        {
-            toUse[k] = 1.5f * Mathf.Clamp(vectorAction[k], -1f, 1f);
-            torquePenalty += toUse[k] * toUse[k];
-        }
-
-        limbRBs[0].AddTorque(-limbs[0].transform.right * strength * toUse[0]);
-        limbRBs[1].AddTorque(-limbs[1].transform.right * strength * toUse[1]);
-        limbRBs[2].AddTorque(-limbs[2].transform.right * strength * toUse[2]);
-        limbRBs[3].AddTorque(-limbs[3].transform.right * strength * toUse[3]);
-        limbRBs[0].AddTorque(-body.transform.up * strength * toUse[4]);
-        limbRBs[1].AddTorque(-body.transform.up * strength * toUse[5]);
-        limbRBs[2].AddTorque(-body.transform.up * strength * toUse[6]);
-        limbRBs[3].AddTorque(-body.transform.up * strength * toUse[7]);
-        limbRBs[4].AddTorque(-limbs[4].transform.right * strength * toUse[8]);
-        limbRBs[5].AddTorque(-limbs[5].transform.right * strength * toUse[9]);
-        limbRBs[6].AddTorque(-limbs[6].transform.right * strength * toUse[10]);
-        limbRBs[7].AddTorque(-limbs[7].transform.right * strength * toUse[11]);
-
-        if (!IsDone())
-        {
-            SetReward(- 0.01f * torquePenalty 
-                      + 1.0f * bodyRB.velocity.x
-                      - 0.05f * Mathf.Abs(body.transform.position.z - body.transform.parent.transform.position.z)
-                      - 0.05f * Mathf.Abs(bodyRB.velocity.y)
-            );
-        }
-        
-        if (fell)
-        {
-            Done();
-            AddReward(-1f);
-        }
-    }
-
-    public override void AgentReset()
-    {
-        fell = false;
-        Transform[] allChildren = GetComponentsInChildren<Transform>();
-        foreach (Transform child in allChildren)
-        {
-            if (child.gameObject.name.Contains("Crawler")
-                || child.gameObject.name.Contains("parent"))
-            {
-                continue;
-            }
-            child.position = transformsPosition[child.gameObject];
-            child.rotation = transformsRotation[child.gameObject];
-            child.gameObject.GetComponent<Rigidbody>().velocity = default(Vector3);
-            child.gameObject.GetComponent<Rigidbody>().angularVelocity = default(Vector3);
-        }
-        gameObject.transform.rotation = Quaternion.Euler(new Vector3(0, Random.value * 90 - 45, 0));
-    }
-
-    public override void AgentOnDone()
-    {
-
-    }
-}