fixed initial height again, and added initial rotation

Assets/Prefabs/DroneBase.prefab

@@ -1012,7 +1012,7 @@ MonoBehaviour:
   desired_vx: 0
   desired_vy: 0
   desired_yaw: 0
-  initial_height: 0
+  initial_height: 4
 --- !u!114 &114271859555978516
 MonoBehaviour:
   m_ObjectHideFlags: 1

Assets/Scripts/DroneAgent.cs

@@ -23,7 +23,7 @@ public class DroneAgent: Agent {
 	private bool wait = false;
 
 	private Vector3 initialPos;
-
+    private Quaternion initialRot;
 
 	private float maxX;
 	private float minX;
@@ -70,6 +70,8 @@ public override void InitializeAgent() {
 		rand = new System.Random ();
 
 		initialPos = transform.position;
+        initialPos.y = velocityControl.initial_height;
+        initialRot = transform.rotation;
 
 		endBounds = endRegion.GetComponent<Renderer> ().bounds;
 
@@ -81,6 +83,8 @@ public override void InitializeAgent() {
 
 		wait = false;
 
+        collided = false;
+
 		local_done = false;
 
 	}
@@ -241,7 +245,7 @@ public override void AgentReset()
 		float startZ = ((float) rand.NextDouble()) * (maxZ - minZ) + minZ;
 
 		transform.position = new Vector3 (startX, initialPos.y, startZ);
-		transform.rotation = Quaternion.Euler (Vector3.forward);
+        transform.rotation = initialRot;
 		//reset, which also re enables
 
 		//StartCoroutine (Waiting (1.0f));

Assets/Scripts/VelocityControl/VelocityControl.cs

@@ -21,12 +21,12 @@ public class VelocityControl : MonoBehaviour {
     private float max_pitch = 0.175f; // 10 Degrees in radians, otherwise small-angle approximation dies 
     private float max_roll = 0.175f; // 10 Degrees in radians, otherwise small-angle approximation dies
     private float max_alpha = 10.0f;
-
+    //must set this
     public float desired_height = 4.0f;
     public float desired_vx = 0.0f;
     public float desired_vy = 0.0f;
     public float desired_yaw = 0.0f;
-
+    //must set this
     public float initial_height = 4.0f;
 
     private bool wait = false;
@@ -40,14 +40,12 @@ void Start () {
         Rigidbody rb = GetComponent<Rigidbody> ();
         Vector3 desiredForce = new Vector3 (0.0f, gravity * state.Mass, 0.0f);
         rb.AddForce (desiredForce, ForceMode.Acceleration);
-        transform.localPosition = new Vector3(transform.localPosition.x, initial_height);
-        initial_height = desired_height;
     }
 
     // Update is called once per frame
     void FixedUpdate () {
         state.GetState ();
-
+        
         // NOTE: I'm using stupid vector order (sideways, up, forward) at the end
 
         Vector3 desiredTheta;