diff --git a/Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/DynamicTargetPlatform.prefab b/Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/DynamicTargetPlatform.prefab
new file mode 100644
index 0000000000..43c0bee030
--- /dev/null
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diff --git a/Project/Assets/ML-Agents/Examples/Worm/Prefabs/WormBasePrefabStatic.prefab.meta b/Project/Assets/ML-Agents/Examples/Worm/Prefabs/WormBasePrefabStatic.prefab.meta
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diff --git a/Project/Assets/ML-Agents/Examples/Worm/Scripts.meta b/Project/Assets/ML-Agents/Examples/Worm/Scripts.meta
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diff --git a/Project/Assets/ML-Agents/Examples/Worm/Scripts/WormAgent.cs b/Project/Assets/ML-Agents/Examples/Worm/Scripts/WormAgent.cs
new file mode 100644
index 0000000000..f2871f7c2d
--- /dev/null
+++ b/Project/Assets/ML-Agents/Examples/Worm/Scripts/WormAgent.cs
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+using System.Collections;
+using UnityEngine;
+using MLAgents;
+using MLAgentsExamples;
+using MLAgents.Sensors;
+
+[RequireComponent(typeof(JointDriveController))] // Required to set joint forces
+public class WormAgent : Agent
+{
+    [Header("Target To Walk Towards")]
+    [Space(10)]
+    public Transform target;
+
+    public Transform ground;
+    public bool detectTargets;
+    public bool targetIsStatic;
+    public bool respawnTargetWhenTouched;
+    public float targetSpawnRadius;
+
+    [Header("Body Parts")] [Space(10)] 
+    public Transform bodySegment0;
+    public Transform bodySegment1;
+    public Transform bodySegment2;
+    public Transform bodySegment3;
+
+    [Header("Joint Settings")] [Space(10)] 
+    JointDriveController m_JdController;
+    Vector3 m_DirToTarget;
+    float m_MovingTowardsDot;
+    float m_FacingDot;
+
+    [Header("Reward Functions To Use")]
+    [Space(10)]
+    public bool rewardMovingTowardsTarget; // Agent should move towards target
+
+    public bool rewardFacingTarget; // Agent should face the target
+    public bool rewardUseTimePenalty; // Hurry up
+
+    Quaternion m_LookRotation; //LookRotation from m_TargetDirMatrix to Target
+    Matrix4x4 m_TargetDirMatrix; //Matrix used by agent as orientation reference
+
+    public override void Initialize()
+    {
+        m_JdController = GetComponent<JointDriveController>();
+        m_DirToTarget = target.position - bodySegment0.position;
+        m_LookRotation = Quaternion.LookRotation(m_DirToTarget);
+        m_TargetDirMatrix = Matrix4x4.TRS(Vector3.zero, m_LookRotation, Vector3.one);
+
+        //Setup each body part
+        m_JdController.SetupBodyPart(bodySegment0);
+        m_JdController.SetupBodyPart(bodySegment1);
+        m_JdController.SetupBodyPart(bodySegment2);
+        m_JdController.SetupBodyPart(bodySegment3);
+        
+        //We only want the head to detect the target
+        //So we need to remove TargetContact from everything else
+        //This is a temp fix till we can redesign
+        DestroyImmediate(bodySegment1.GetComponent<TargetContact>());
+        DestroyImmediate(bodySegment2.GetComponent<TargetContact>());
+        DestroyImmediate(bodySegment3.GetComponent<TargetContact>());
+    }
+
+    
+    //Get Joint Rotation Relative to the Connected Rigidbody
+    //We want to collect this info because it is the actual rotation, not the "target rotation"
+    public Quaternion GetJointRotation(ConfigurableJoint joint)
+    {
+        return(Quaternion.FromToRotation(joint.axis, joint.connectedBody.transform.rotation.eulerAngles));
+    }
+
+    /// <summary>
+    /// Add relevant information on each body part to observations.
+    /// </summary>
+    public void CollectObservationBodyPart(BodyPart bp, VectorSensor sensor)
+    {
+        var rb = bp.rb;
+        sensor.AddObservation(bp.groundContact.touchingGround ? 1 : 0); // Whether the bp touching the ground
+
+        var velocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.velocity);
+        sensor.AddObservation(velocityRelativeToLookRotationToTarget);
+
+        var angularVelocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.angularVelocity);
+        sensor.AddObservation(angularVelocityRelativeToLookRotationToTarget);
+
+        if (bp.rb.transform != bodySegment0)
+        {
+            var localPosRelToBody = bodySegment0.InverseTransformPoint(rb.position);
+            sensor.AddObservation(localPosRelToBody);
+            sensor.AddObservation(GetJointRotation(bp.joint));
+            sensor.AddObservation(bp.currentStrength / m_JdController.maxJointForceLimit);
+        }
+    }
+    
+    public override void CollectObservations(VectorSensor sensor)
+    {
+        m_JdController.GetCurrentJointForces();
+
+        // Update pos to target
+        m_DirToTarget = target.position - bodySegment0.position;
+        m_LookRotation = Quaternion.LookRotation(m_DirToTarget);
+        m_TargetDirMatrix = Matrix4x4.TRS(Vector3.zero, m_LookRotation, Vector3.one);
+
+        RaycastHit hit;
+        float maxDist = 10;
+        if (Physics.Raycast(bodySegment0.position, Vector3.down, out hit, maxDist))
+        {
+            sensor.AddObservation(hit.distance/maxDist);
+        }
+        else
+            sensor.AddObservation(1);
+
+        foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+        {
+            CollectObservationBodyPart(bodyPart, sensor);
+        }
+
+        //Rotation delta between the matrix and the head
+        Quaternion headRotationDeltaFromMatrixRot = Quaternion.Inverse(m_TargetDirMatrix.rotation) * bodySegment0.rotation;
+        sensor.AddObservation(headRotationDeltaFromMatrixRot);
+    }
+
+    /// <summary>
+    /// Agent touched the target
+    /// </summary>
+    public void TouchedTarget()
+    {
+        AddReward(1f);
+        if (respawnTargetWhenTouched)
+        {
+            GetRandomTargetPos();
+        }
+    }
+
+    /// <summary>
+    /// Moves target to a random position within specified radius.
+    /// </summary>
+    public void GetRandomTargetPos()
+    {
+        var newTargetPos = Random.insideUnitSphere * targetSpawnRadius;
+        newTargetPos.y = 5;
+        target.position = newTargetPos + ground.position;
+    }
+
+    public override void OnActionReceived(float[] vectorAction)
+    {
+        // The dictionary with all the body parts in it are in the jdController
+        var bpDict = m_JdController.bodyPartsDict;
+
+        var i = -1;
+        // Pick a new target joint rotation
+        bpDict[bodySegment1].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+        bpDict[bodySegment2].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+        bpDict[bodySegment3].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+
+        // Update joint strength
+        bpDict[bodySegment1].SetJointStrength(vectorAction[++i]);
+        bpDict[bodySegment2].SetJointStrength(vectorAction[++i]);
+        bpDict[bodySegment3].SetJointStrength(vectorAction[++i]);
+
+        if (bodySegment0.position.y < ground.position.y -2)
+        {
+            EndEpisode();
+        }
+    }
+
+    void FixedUpdate()
+    {
+        if (detectTargets)
+        {
+            foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+            {
+                if (bodyPart.targetContact && bodyPart.targetContact.touchingTarget)
+                {
+                    TouchedTarget();
+                }
+            }
+        }
+
+        // Set reward for this step according to mixture of the following elements.
+        if (rewardMovingTowardsTarget)
+        {
+            RewardFunctionMovingTowards();
+        }
+
+        if (rewardFacingTarget)
+        {
+            RewardFunctionFacingTarget();
+        }
+
+        if (rewardUseTimePenalty)
+        {
+            RewardFunctionTimePenalty();
+        }
+    }
+
+    /// <summary>
+    /// Reward moving towards target & Penalize moving away from target.
+    /// </summary>
+    void RewardFunctionMovingTowards()
+    {
+        m_MovingTowardsDot = Vector3.Dot(m_JdController.bodyPartsDict[bodySegment0].rb.velocity, m_DirToTarget.normalized);
+        AddReward(0.01f * m_MovingTowardsDot);
+    }
+
+    /// <summary>
+    /// Reward facing target & Penalize facing away from target
+    /// </summary>
+    void RewardFunctionFacingTarget()
+    {
+        float bodyRotRelativeToMatrixDot = Quaternion.Dot(m_TargetDirMatrix.rotation, bodySegment0.rotation);
+        AddReward(0.01f * bodyRotRelativeToMatrixDot);
+    }
+
+    /// <summary>
+    /// Existential penalty for time-contrained tasks.
+    /// </summary>
+    void RewardFunctionTimePenalty()
+    {
+        AddReward(-0.001f);
+    }
+
+    /// <summary>
+    /// Loop over body parts and reset them to initial conditions.
+    /// </summary>
+    public override void OnEpisodeBegin()
+    {
+        foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+        {
+            bodyPart.Reset(bodyPart);
+        }
+        if (m_DirToTarget != Vector3.zero)
+        {
+            transform.rotation = Quaternion.LookRotation(m_DirToTarget);
+        }
+        transform.Rotate(Vector3.up, Random.Range(0.0f, 360.0f));
+
+        if (!targetIsStatic)
+        {
+            GetRandomTargetPos();
+        }
+    }
+}
diff --git a/Project/Assets/ML-Agents/Examples/Worm/Scripts/WormAgent.cs.meta b/Project/Assets/ML-Agents/Examples/Worm/Scripts/WormAgent.cs.meta
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diff --git a/Project/Assets/ML-Agents/Examples/Worm/TFModels/WormStatic.nn b/Project/Assets/ML-Agents/Examples/Worm/TFModels/WormStatic.nn
new file mode 100644
index 0000000000..e6fa4d7fc3
Binary files /dev/null and b/Project/Assets/ML-Agents/Examples/Worm/TFModels/WormStatic.nn differ
diff --git a/Project/Assets/ML-Agents/Examples/Worm/TFModels/WormStatic.nn.meta b/Project/Assets/ML-Agents/Examples/Worm/TFModels/WormStatic.nn.meta
new file mode 100644
index 0000000000..0d1d80967d
--- /dev/null
+++ b/Project/Assets/ML-Agents/Examples/Worm/TFModels/WormStatic.nn.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: c4a21970807da404ab0c7e5ff8dd1b0e
+ScriptedImporter:
+  fileIDToRecycleName:
+    11400000: main obj
+    11400002: model data
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
+  script: {fileID: 11500000, guid: 19ed1486aa27d4903b34839f37b8f69f, type: 3}
diff --git a/Project/ProjectSettings/DynamicsManager.asset b/Project/ProjectSettings/DynamicsManager.asset
index 62b4464375..8ff5e75e34 100644
--- a/Project/ProjectSettings/DynamicsManager.asset
+++ b/Project/ProjectSettings/DynamicsManager.asset
@@ -3,7 +3,7 @@
 --- !u!55 &1
 PhysicsManager:
   m_ObjectHideFlags: 0
-  serializedVersion: 7
+  serializedVersion: 10
   m_Gravity: {x: 0, y: -9.81, z: 0}
   m_DefaultMaterial: {fileID: 0}
   m_BounceThreshold: 2
@@ -20,6 +20,7 @@ PhysicsManager:
   m_LayerCollisionMatrix: ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffebffffffddffffffeffffffff5fffffffbffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff
   m_AutoSimulation: 1
   m_AutoSyncTransforms: 1
+  m_ReuseCollisionCallbacks: 0
   m_ClothInterCollisionSettingsToggle: 0
   m_ContactPairsMode: 0
   m_BroadphaseType: 0
@@ -27,3 +28,6 @@ PhysicsManager:
     m_Center: {x: 0, y: 0, z: 0}
     m_Extent: {x: 250, y: 250, z: 250}
   m_WorldSubdivisions: 8
+  m_FrictionType: 0
+  m_EnableEnhancedDeterminism: 0
+  m_EnableUnifiedHeightmaps: 1
diff --git a/com.unity.ml-agents/CHANGELOG.md b/com.unity.ml-agents/CHANGELOG.md
index c2bda57ffc..388cffa62a 100755
--- a/com.unity.ml-agents/CHANGELOG.md
+++ b/com.unity.ml-agents/CHANGELOG.md
@@ -9,7 +9,7 @@ and this project adheres to
 ## [Unreleased]
 
 ### Major Changes
-
+- Added new 3-joint Worm ragdoll environment. (#3798)
 - The `--load` and `--train` command-line flags have been deprecated. Training
   now happens by default, and use `--resume` to resume training instead. (#3705)
 - The Jupyter notebooks have been removed from the repository.
diff --git a/config/trainer_config.yaml b/config/trainer_config.yaml
index 65975c5625..edc830f05c 100644
--- a/config/trainer_config.yaml
+++ b/config/trainer_config.yaml
@@ -220,6 +220,36 @@ CrawlerDynamic:
             strength: 1.0
             gamma: 0.995
 
+WormDynamic:
+    normalize: true
+    num_epoch: 3
+    time_horizon: 1000
+    batch_size: 2024
+    buffer_size: 20240
+    max_steps: 3.5e6
+    summary_freq: 30000
+    num_layers: 3
+    hidden_units: 512
+    reward_signals:
+        extrinsic:
+            strength: 1.0
+            gamma: 0.995
+
+WormStatic:
+    normalize: true
+    num_epoch: 3
+    time_horizon: 1000
+    batch_size: 2024
+    buffer_size: 20240
+    max_steps: 3.5e6
+    summary_freq: 30000
+    num_layers: 3
+    hidden_units: 512
+    reward_signals:
+        extrinsic:
+            strength: 1.0
+            gamma: 0.995
+
 Walker:
     normalize: true
     num_epoch: 3
diff --git a/docs/Learning-Environment-Examples.md b/docs/Learning-Environment-Examples.md
index 1d32e245f5..32581ddfe8 100644
--- a/docs/Learning-Environment-Examples.md
+++ b/docs/Learning-Environment-Examples.md
@@ -263,6 +263,29 @@ you would like to contribute environments, please see our
 - Benchmark Mean Reward for `CrawlerStaticTarget`: 2000
 - Benchmark Mean Reward for `CrawlerDynamicTarget`: 400
 
+## Worm
+
+![Worm](images/worm.png)
+
+* Set-up: A worm with a head and 3 body segments.
+* Goal: The agents must move its body toward the goal direction.
+  * `WormStaticTarget` - Goal direction is always forward.
+  * `WormDynamicTarget`- Goal direction is randomized.
+* Agents: The environment contains 10 agents with same Behavior Parameters.
+* Agent Reward Function (independent):
+  * +0.01 times body velocity in the goal direction.
+  * +0.01 times body direction alignment with goal direction.
+* Behavior Parameters:
+  * Vector Observation space: 57 variables corresponding to position, rotation,
+    velocity, and angular velocities of each limb plus the acceleration and
+    angular acceleration of the body.
+  * Vector Action space: (Continuous) Size of 9, corresponding to target
+    rotations for joints.
+  * Visual Observations: None
+* Float Properties: None
+* Benchmark Mean Reward for `WormStaticTarget`: 200
+* Benchmark Mean Reward for `WormDynamicTarget`: 150
+
 ## Food Collector
 
 ![Collector](images/foodCollector.png)
diff --git a/docs/images/worm.png b/docs/images/worm.png
new file mode 100644
index 0000000000..6a36baff6e
Binary files /dev/null and b/docs/images/worm.png differ