Merge branch 'RunSwimFlyRich-master' into develop

UnitySDK/Assets/ML-Agents/Examples/Crawler/Brains/CrawlerDynamicLearning.asset

 --- !u!114 &11400000
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     - 
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UnitySDK/Assets/ML-Agents/Examples/Crawler/Brains/CrawlerStaticLearning.asset

 --- !u!114 &11400000
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UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs

     bool isNewDecisionStep;
     int currentDecisionStep;
 
+    Quaternion lookRotation;
+    Matrix4x4 targetDirMatrix;
+
     public override void InitializeAgent()
     {
         jdController = GetComponent<JointDriveController>();
         jdController.SetupBodyPart(leg2Lower);
         jdController.SetupBodyPart(leg3Upper);
         jdController.SetupBodyPart(leg3Lower);
-    }
+   }
 
     /// <summary>
     /// We only need to change the joint settings based on decision freq.
     {
         var rb = bp.rb;
         AddVectorObs(bp.groundContact.touchingGround ? 1 : 0); // Whether the bp touching the ground
-        AddVectorObs(rb.velocity);
-        AddVectorObs(rb.angularVelocity);
+
+        Vector3 velocityRelativeToLookRotationToTarget = targetDirMatrix.inverse.MultiplyVector(rb.velocity);
+        AddVectorObs(velocityRelativeToLookRotationToTarget);
+
+        Vector3 angularVelocityRelativeToLookRotationToTarget = targetDirMatrix.inverse.MultiplyVector(rb.angularVelocity);
+        AddVectorObs(angularVelocityRelativeToLookRotationToTarget);
 
         if (bp.rb.transform != body)
         {
     {
         jdController.GetCurrentJointForces();
         // Normalize dir vector to help generalize
-        AddVectorObs(dirToTarget.normalized);
+
+        lookRotation = Quaternion.LookRotation(dirToTarget);
+        targetDirMatrix = Matrix4x4.TRS(Vector3.zero, lookRotation, Vector3.one);
-        AddVectorObs(body.transform.position.y);
-        AddVectorObs(body.forward);
-        AddVectorObs(body.up);
+        RaycastHit hit;
+        if (Physics.Raycast(body.position, Vector3.down, out hit, 10.0f))
+        {
+            AddVectorObs(hit.distance);
+        }
+        else
+            AddVectorObs(10.0f);
+
+        Vector3 bodyForwardRelativeToLookRotationToTarget = targetDirMatrix.inverse.MultiplyVector(body.forward);
+        AddVectorObs(bodyForwardRelativeToLookRotationToTarget);
+
+        Vector3 bodyUpRelativeToLookRotationToTarget = targetDirMatrix.inverse.MultiplyVector(body.up);
+        AddVectorObs(bodyUpRelativeToLookRotationToTarget);
+
         foreach (var bodyPart in jdController.bodyPartsDict.Values)
         {
             CollectObservationBodyPart(bodyPart);
         {
             transform.rotation = Quaternion.LookRotation(dirToTarget);
         }
+        transform.Rotate(Vector3.up,Random.Range(0.0f, 360.0f));
 
         foreach (var bodyPart in jdController.bodyPartsDict.Values)
         {