feet now alternate but runs backwards

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

         // d. Discourage head movement.
         AddReward(
             +0.02f * Vector3.Dot(m_WalkDir.normalized, m_JdController.bodyPartsDict[hips].rb.velocity)
-            + 0.01f * Quaternion.Dot(m_OrientationCube.transform.rotation, hips.rotation)
-            + 0.01f * Quaternion.Dot(m_OrientationCube.transform.rotation, head.rotation)
+//            + 0.01f * Quaternion.Dot(m_OrientationCube.transform.rotation, hips.rotation) //reward looking at
+//            + 0.01f * Quaternion.Dot(m_OrientationCube.transform.rotation, head.rotation) //reward looking at
+            + 0.01f * (Quaternion.Dot(m_OrientationCube.transform.rotation, hips.rotation) - 1) * .5f //penalize not looking at
+            + 0.01f * (Quaternion.Dot(m_OrientationCube.transform.rotation, head.rotation) - 1) * .5f //penalize not looking at
+
+        
+        
+        
+        
 //        // Set reward for this step according to mixture of the following elements.
 //        // a. Velocity alignment with goal direction.
 //        // b. Rotation alignment with goal direction.