Worm Ragdoll & Env Updates (#4413)

* add worm updates

* add rewman

* cp

* normalize rewards

* only cookie

* try 20M. Add3.5Mnn file

* reduce strength to 3000spring

* facing reward troubleshooting

* Update WormAgent.cs

* troubleshoot nan

* try product of rewards

* train 5M steps

* try end episode on target touch

* fix joint obsv

* use 7M steps

* added nn file for observation joint fix. looks great

* don't end episode

* remove old code

* refactor to patterns used in walker & crawler

* add auto-setup code

* reformat

* use head vel

* remove unneeded observ. update prefabs

* update static scenes

* keeps rolling. added debug. try 5 m/s

* gate the facing reward based on angle tolerance

* added 10ms_angle30rew_nn files

* use fromto rot

* use 7M steps

* add new trained files. cleanup code and prefabs

* use avgvel. add code comments

* remove unused method

* add more comments

* Update Learning-Environment-Examples.md

* Update DynamicTargetPlatform.prefab

* remove testing tools

* reset targetcontroller to master

* reset mat to master

* update case

* change property name, update prefab

* add new set up methods

* update format

Author: Hunter-Unity

Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/DynamicTargetPlatform.prefab

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

@@ -141,6 +141,17 @@ public void SetupBodyPart(Transform t)
                 bp.groundContact.agent = gameObject.GetComponent<Agent>();
             }
 
+            if (bp.joint)
+            {
+                var jd = new JointDrive
+                {
+                    positionSpring = maxJointSpring,
+                    positionDamper = jointDampen,
+                    maximumForce = maxJointForceLimit
+                };
+                bp.joint.slerpDrive = jd;
+            }
+
             bp.thisJdController = this;
             bodyPartsDict.Add(t, bp);
             bodyPartsList.Add(bp);