Add Dynamic Walker. Improved Ragdoll Stability/Performance

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

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

@@ -0,0 +1,27 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Unity.MLAgentsExamples
+{
+    public class DirectionIndicator : MonoBehaviour
+    {
+        public Transform transformToFollow; //ex: hips or body
+        public Transform targetToLookAt; //target in the scene the indicator will point to
+        public float heightOffset;
+        private float m_StartingYPos;
+
+        void OnEnable()
+        {
+            m_StartingYPos = transform.position.y;
+        }
+
+        void Update()
+        {
+            transform.position = new Vector3(transformToFollow.position.x, m_StartingYPos + heightOffset, transformToFollow.position.z);
+            Vector3 walkDir = targetToLookAt.position - transform.position;
+            walkDir.y = 0; //flatten dir on the y
+            transform.rotation = Quaternion.LookRotation(walkDir);
+        }
+    }
+}

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

@@ -109,6 +109,7 @@ public class JointDriveController : MonoBehaviour
         [HideInInspector] public Dictionary<Transform, BodyPart> bodyPartsDict = new Dictionary<Transform, BodyPart>();
 
         [HideInInspector] public List<BodyPart> bodyPartsList = new List<BodyPart>();
+        const float k_MaxAngularVelocity = 50.0f;
 
         /// <summary>
         /// Create BodyPart object and add it to dictionary.
@@ -122,7 +123,7 @@ public void SetupBodyPart(Transform t)
                 startingPos = t.position,
                 startingRot = t.rotation
             };
-            bp.rb.maxAngularVelocity = 100;
+            bp.rb.maxAngularVelocity = k_MaxAngularVelocity;
 
             // Add & setup the ground contact script
             bp.groundContact = t.GetComponent<GroundContact>();