new reacher env

Project/Assets/ML-Agents/Examples/Reacher/Prefabs/NewAgent.prefab

+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!1 &1053261483945176
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 4340471134207970}
+  - component: {fileID: 33129520809121966}
+  - component: {fileID: 136195163595303310}
+  - component: {fileID: 23956479694601514}
+  - component: {fileID: 54174454281860166}
+  - component: {fileID: 153663134575695956}
+  m_Layer: 0
+  m_Name: Capsule (1)
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &4340471134207970
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1053261483945176}
+  m_LocalRotation: {x: 1, y: -0, z: -0, w: 0}
+  m_LocalPosition: {x: 0, y: -10, z: 0}
+  m_LocalScale: {x: 1, y: 3, z: 1}
+  m_Children:
+  - {fileID: 4910003592613346}
+  m_Father: {fileID: 4067321601414524}
+  m_RootOrder: 2
+  m_LocalEulerAnglesHint: {x: 180, y: 0, z: 0}
+--- !u!33 &33129520809121966
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1053261483945176}
+  m_Mesh: {fileID: 10208, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!136 &136195163595303310
+CapsuleCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1053261483945176}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 0
+  m_Enabled: 1
+  m_Radius: 0.5
+  m_Height: 2
+  m_Direction: 1
+  m_Center: {x: 0, y: 0, z: 0}
+--- !u!23 &23956479694601514
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1053261483945176}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 2100000, guid: eaad04b0e0dec42229c9cb00a981d7ac, type: 2}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_PreserveUVs: 1
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 0
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+--- !u!54 &54174454281860166
+Rigidbody:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1053261483945176}
+  serializedVersion: 2
+  m_Mass: 1
+  m_Drag: 0
+  m_AngularDrag: 0.05
+  m_UseGravity: 1
+  m_IsKinematic: 0
+  m_Interpolate: 0
+  m_Constraints: 0
+  m_CollisionDetection: 0
+--- !u!153 &153663134575695956
+ConfigurableJoint:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1053261483945176}
+  m_ConnectedBody: {fileID: 54420197405084076}
+  m_Anchor: {x: 0, y: -1, z: 0}
+  m_Axis: {x: 1, y: 0, z: 0}
+  m_AutoConfigureConnectedAnchor: 1
+  m_ConnectedAnchor: {x: 0, y: 1, z: 0}
+  serializedVersion: 2
+  m_SecondaryAxis: {x: 0, y: 1, z: 0}
+  m_XMotion: 0
+  m_YMotion: 0
+  m_ZMotion: 0
+  m_AngularXMotion: 2
+  m_AngularYMotion: 0
+  m_AngularZMotion: 2
+  m_LinearLimitSpring:
+    spring: 0
+    damper: 0
+  m_LinearLimit:
+    limit: 0
+    bounciness: 0
+    contactDistance: 0
+  m_AngularXLimitSpring:
+    spring: 0
+    damper: 0
+  m_LowAngularXLimit:
+    limit: 0
+    bounciness: 0
+    contactDistance: 0
+  m_HighAngularXLimit:
+    limit: 0
+    bounciness: 0
+    contactDistance: 0
+  m_AngularYZLimitSpring:
+    spring: 0
+    damper: 0
+  m_AngularYLimit:
+    limit: 0
+    bounciness: 0
+    contactDistance: 0
+  m_AngularZLimit:
+    limit: 0
+    bounciness: 0
+    contactDistance: 0
+  m_TargetPosition: {x: 0, y: 0, z: 0}
+  m_TargetVelocity: {x: 0, y: 0, z: 0}
+  m_XDrive:
+    serializedVersion: 3
+    positionSpring: 0
+    positionDamper: 0
+    maximumForce: 3.4028233e+38
+  m_YDrive:
+    serializedVersion: 3
+    positionSpring: 0
+    positionDamper: 0
+    maximumForce: 3.4028233e+38
+  m_ZDrive:
+    serializedVersion: 3
+    positionSpring: 0
+    positionDamper: 0
+    maximumForce: 3.4028233e+38
+  m_TargetRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_TargetAngularVelocity: {x: 0, y: 0, z: 0}
+  m_RotationDriveMode: 0
+  m_AngularXDrive:
+    serializedVersion: 3
+    positionSpring: 0
+    positionDamper: 0
+    maximumForce: 3.4028233e+38
+  m_AngularYZDrive:
+    serializedVersion: 3
+    positionSpring: 0
+    positionDamper: 0
+    maximumForce: 3.4028233e+38
+  m_SlerpDrive:
+    serializedVersion: 3
+    positionSpring: 0
+    positionDamper: 0
+    maximumForce: 3.4028233e+38
+  m_ProjectionMode: 0
+  m_ProjectionDistance: 0.1
+  m_ProjectionAngle: 180
+  m_ConfiguredInWorldSpace: 0
+  m_SwapBodies: 0
+  m_BreakForce: Infinity
+  m_BreakTorque: Infinity
+  m_EnableCollision: 0
+  m_EnablePreprocessing: 1
+  m_MassScale: 1
+  m_ConnectedMassScale: 1
+--- !u!1 &1065277484498824
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 4836354168995630}
+  - component: {fileID: 33827327769986516}
+  - component: {fileID: 23913365403597130}
+  m_Layer: 0
+  m_Name: GoalOn
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &4836354168995630
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1065277484498824}
+  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 0, y: 0, z: 0}
+  m_Children: []
+  m_Father: {fileID: 4984025405280428}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!33 &33827327769986516
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1065277484498824}
+  m_Mesh: {fileID: 10207, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!23 &23913365403597130
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1065277484498824}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 2100000, guid: a09ffeb044a1d89499e880ce9790458d, type: 2}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_PreserveUVs: 1
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 0
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+--- !u!1 &1157728520783578
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 4386034827704486}
+  - component: {fileID: 33524134957751370}
+  - component: {fileID: 135370188030477524}
+  - component: {fileID: 23420739137250176}
+  - component: {fileID: 54773405692192206}
+  m_Layer: 0
+  m_Name: Sphere
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &4386034827704486
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1157728520783578}
+  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 4067321601414524}
+  m_RootOrder: 3
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!33 &33524134957751370
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1157728520783578}
+  m_Mesh: {fileID: 10207, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!135 &135370188030477524
+SphereCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1157728520783578}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 0
+  m_Enabled: 1
+  serializedVersion: 2
+  m_Radius: 0.5
+  m_Center: {x: 0, y: 0, z: 0}
+--- !u!23 &23420739137250176
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1157728520783578}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 2100000, guid: 69fefdd39d2b34b169e921910bed9c0d, type: 2}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_PreserveUVs: 1
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 0
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+--- !u!54 &54773405692192206
+Rigidbody:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1157728520783578}
+  serializedVersion: 2
+  m_Mass: 1
+  m_Drag: 0
+  m_AngularDrag: 0.05
+  m_UseGravity: 0
+  m_IsKinematic: 1
+  m_Interpolate: 0
+  m_Constraints: 0
+  m_CollisionDetection: 0
+--- !u!1 &1395682910799436
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 4067321601414524}
+  - component: {fileID: 114731167133171590}
+  - component: {fileID: 121382426914333216}
+  - component: {fileID: 6226801880261327134}
+  - component: {fileID: 7840105453417110232}
+  m_Layer: 0
+  m_Name: NewAgent
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &4067321601414524
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1395682910799436}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: -18.48, y: -4.25, z: -9.5}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children:
+  - {fileID: 4984025405280428}
+  - {fileID: 4944997927059382}
+  - {fileID: 4340471134207970}
+  - {fileID: 4386034827704486}
+  m_Father: {fileID: 0}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!114 &114731167133171590
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1395682910799436}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 5d1c4e0b1822b495aa52bc52839ecb30, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  m_BrainParameters:
+    VectorObservationSize: 33
+    NumStackedVectorObservations: 1
+    VectorActionSize: 04000000
+    VectorActionDescriptions: []
+    VectorActionSpaceType: 1
+  m_Model: {fileID: 11400000, guid: d7bdb6a78154f4cf99437d67e4a569a8, type: 3}
+  m_InferenceDevice: 0
+  m_BehaviorType: 0
+  m_BehaviorName: Reacher
+  TeamId: 0
+  m_UseChildSensors: 1
+  m_ObservableAttributeHandling: 0
+--- !u!114 &121382426914333216
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1395682910799436}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: edb64e09da9d24711a34f40c4101b8d2, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  agentParameters:
+    maxStep: 0
+  hasUpgradedFromAgentParameters: 1
+  MaxStep: 4000
+  pendulumA: {fileID: 1644872085946016}
+  pendulumB: {fileID: 1053261483945176}
+  hand: {fileID: 1654288206095398}
+  goal: {fileID: 1986879271678326}
+--- !u!114 &6226801880261327134
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1395682910799436}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 3a5c9d521e5ef4759a8246a07d52221e, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  DecisionPeriod: 4
+  TakeActionsBetweenDecisions: 1
+--- !u!114 &7840105453417110232
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1395682910799436}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 3a6da8f78a394c6ab027688eab81e04d, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  debugCommandLineOverride: 
+--- !u!1 &1644872085946016
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 4944997927059382}
+  - component: {fileID: 33736038482486542}
+  - component: {fileID: 136942565296027158}
+  - component: {fileID: 23266194367773042}
+  - component: {fileID: 54420197405084076}
+  - component: {fileID: 153054247742330296}
+  m_Layer: 0
+  m_Name: Capsule
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &4944997927059382
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1644872085946016}
+  m_LocalRotation: {x: 1, y: -0, z: -0, w: 0}
+  m_LocalPosition: {x: 0, y: -4, z: 0}
+  m_LocalScale: {x: 1, y: 3, z: 1}
+  m_Children: []
+  m_Father: {fileID: 4067321601414524}
+  m_RootOrder: 1
+  m_LocalEulerAnglesHint: {x: 180, y: 0, z: 0}
+--- !u!33 &33736038482486542
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1644872085946016}
+  m_Mesh: {fileID: 10208, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!136 &136942565296027158
+CapsuleCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1644872085946016}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 0
+  m_Enabled: 1
+  m_Radius: 0.5
+  m_Height: 2
+  m_Direction: 1
+  m_Center: {x: 0, y: 0, z: 0}
+--- !u!23 &23266194367773042
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1644872085946016}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 2100000, guid: eaad04b0e0dec42229c9cb00a981d7ac, type: 2}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_PreserveUVs: 1
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 0
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+--- !u!54 &54420197405084076
+Rigidbody:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1644872085946016}
+  serializedVersion: 2
+  m_Mass: 1
+  m_Drag: 0
+  m_AngularDrag: 0.05
+  m_UseGravity: 1
+  m_IsKinematic: 0
+  m_Interpolate: 0
+  m_Constraints: 0
+  m_CollisionDetection: 0
+--- !u!153 &153054247742330296
+ConfigurableJoint:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1644872085946016}
+  m_ConnectedBody: {fileID: 54773405692192206}
+  m_Anchor: {x: 0, y: -1.34, z: 0}
+  m_Axis: {x: 1, y: 0, z: 0}
+  m_AutoConfigureConnectedAnchor: 1
+  m_ConnectedAnchor: {x: 0, y: 0.01999998, z: 0}
+  serializedVersion: 2
+  m_SecondaryAxis: {x: 0, y: 1, z: 0}
+  m_XMotion: 0
+  m_YMotion: 0
+  m_ZMotion: 0
+  m_AngularXMotion: 2
+  m_AngularYMotion: 0
+  m_AngularZMotion: 2
+  m_LinearLimitSpring:
+    spring: 0
+    damper: 0
+  m_LinearLimit:
+    limit: 0
+    bounciness: 0
+    contactDistance: 0
+  m_AngularXLimitSpring:
+    spring: 0
+    damper: 0
+  m_LowAngularXLimit:
+    limit: 0
+    bounciness: 0
+    contactDistance: 0
+  m_HighAngularXLimit:
+    limit: 0
+    bounciness: 0
+    contactDistance: 0
+  m_AngularYZLimitSpring:
+    spring: 0
+    damper: 0
+  m_AngularYLimit:
+    limit: 0
+    bounciness: 0
+    contactDistance: 0
+  m_AngularZLimit:
+    limit: 0
+    bounciness: 0
+    contactDistance: 0
+  m_TargetPosition: {x: 0, y: 0, z: 0}
+  m_TargetVelocity: {x: 0, y: 0, z: 0}
+  m_XDrive:
+    serializedVersion: 3
+    positionSpring: 0
+    positionDamper: 0
+    maximumForce: 3.4028233e+38
+  m_YDrive:
+    serializedVersion: 3
+    positionSpring: 0
+    positionDamper: 0
+    maximumForce: 3.4028233e+38
+  m_ZDrive:
+    serializedVersion: 3
+    positionSpring: 0
+    positionDamper: 0
+    maximumForce: 3.4028233e+38
+  m_TargetRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_TargetAngularVelocity: {x: 0, y: 0, z: 0}
+  m_RotationDriveMode: 0
+  m_AngularXDrive:
+    serializedVersion: 3
+    positionSpring: 0
+    positionDamper: 0
+    maximumForce: 3.4028233e+38
+  m_AngularYZDrive:
+    serializedVersion: 3
+    positionSpring: 0
+    positionDamper: 0
+    maximumForce: 3.4028233e+38
+  m_SlerpDrive:
+    serializedVersion: 3
+    positionSpring: 0
+    positionDamper: 0
+    maximumForce: 3.4028233e+38
+  m_ProjectionMode: 0
+  m_ProjectionDistance: 0.1
+  m_ProjectionAngle: 180
+  m_ConfiguredInWorldSpace: 0
+  m_SwapBodies: 0
+  m_BreakForce: Infinity
+  m_BreakTorque: Infinity
+  m_EnableCollision: 0
+  m_EnablePreprocessing: 1
+  m_MassScale: 1
+  m_ConnectedMassScale: 1
+--- !u!1 &1654288206095398
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 4910003592613346}
+  - component: {fileID: 33164921905814718}
+  - component: {fileID: 135867312924178508}
+  - component: {fileID: 23588591193572352}
+  m_Layer: 0
+  m_Name: Hand
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &4910003592613346
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1654288206095398}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 1, z: 0}
+  m_LocalScale: {x: 2, y: 0.66, z: 2}
+  m_Children: []
+  m_Father: {fileID: 4340471134207970}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!33 &33164921905814718
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1654288206095398}
+  m_Mesh: {fileID: 10207, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!135 &135867312924178508
+SphereCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1654288206095398}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 0
+  m_Enabled: 1
+  serializedVersion: 2
+  m_Radius: 0.5
+  m_Center: {x: 0, y: 0, z: 0}
+--- !u!23 &23588591193572352
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1654288206095398}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 2100000, guid: c9fa44c2c3f8ce74ca39a3355ea42631, type: 2}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_PreserveUVs: 1
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 0
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+--- !u!1 &1986879271678326
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 4984025405280428}
+  - component: {fileID: 33192810276213476}
+  - component: {fileID: 135746602902751552}
+  - component: {fileID: 23595512991530936}
+  - component: {fileID: 114928491800121992}
+  m_Layer: 0
+  m_Name: Goal
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &4984025405280428
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1986879271678326}
+  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
+  m_LocalPosition: {x: -2.41, y: -6.25, z: -9.8}
+  m_LocalScale: {x: 5, y: 5, z: 5}
+  m_Children:
+  - {fileID: 4836354168995630}
+  m_Father: {fileID: 4067321601414524}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!33 &33192810276213476
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1986879271678326}
+  m_Mesh: {fileID: 10207, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!135 &135746602902751552
+SphereCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1986879271678326}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 1
+  m_Enabled: 1
+  serializedVersion: 2
+  m_Radius: 0.5
+  m_Center: {x: 0, y: 0, z: 0}
+--- !u!23 &23595512991530936
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1986879271678326}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 2100000, guid: c67450f290f3e4897bc40276a619e78d, type: 2}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_PreserveUVs: 1
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 0
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+--- !u!114 &114928491800121992
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1986879271678326}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: a8c5005c8e6b84f1089c132cb87b44c4, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  agent: {fileID: 1395682910799436}
+  hand: {fileID: 1654288206095398}
+  goalOn: {fileID: 1065277484498824}

Project/Assets/ML-Agents/Examples/Reacher/Prefabs/NewAgent.prefab.meta

+fileFormatVersion: 2
+guid: 1c8be2c419f5747588fa6fdbdbaac538
+timeCreated: 1508535292
+licenseType: Pro
+NativeFormatImporter:
+  mainObjectFileID: 100100000
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Project/Assets/ML-Agents/Examples/Reacher/Scenes/ReacherNew.unity.meta

+fileFormatVersion: 2
+guid: 3fdfa7ce166a64fc888b271ce09d4022
+timeCreated: 1504127824
+licenseType: Pro
+DefaultImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Project/Assets/ML-Agents/Examples/Reacher/Scripts/NewReacherAgent.cs

+using UnityEngine;
+using Unity.MLAgents;
+using Unity.MLAgents.Sensors;
+
+public class NewReacherAgent : Agent
+{
+    public GameObject pendulumA;
+    public GameObject pendulumB;
+    public GameObject hand;
+    public GameObject goal;
+    float m_GoalDegree;
+    Rigidbody m_RbA;
+    Rigidbody m_RbB;
+    // speed of the goal zone around the arm (in radians)
+    float m_GoalSpeed;
+    // radius of the goal zone
+    float m_GoalSize;
+    // Magnitude of sinusoidal (cosine) deviation of the goal along the vertical dimension
+    float m_Deviation;
+    // Frequency of the cosine deviation of the goal along the vertical dimension
+    float m_DeviationFreq;
+
+    EnvironmentParameters m_ResetParams;
+
+    /// <summary>
+    /// Collect the rigidbodies of the reacher in order to resue them for
+    /// observations and actions.
+    /// </summary>
+    public override void Initialize()
+    {
+        m_RbA = pendulumA.GetComponent<Rigidbody>();
+        m_RbB = pendulumB.GetComponent<Rigidbody>();
+
+        m_ResetParams = Academy.Instance.EnvironmentParameters;
+
+        SetResetParameters();
+    }
+
+    /// <summary>
+    /// We collect the normalized rotations, angularal velocities, and velocities of both
+    /// limbs of the reacher as well as the relative position of the target and hand.
+    /// </summary>
+    public override void CollectObservations(VectorSensor sensor)
+    {
+        sensor.AddObservation(pendulumB.transform.localPosition);
+        sensor.AddObservation(pendulumB.transform.rotation);
+        sensor.AddObservation(m_RbB.angularVelocity);
+        sensor.AddObservation(m_RbB.velocity);
+
+        sensor.AddObservation(goal.transform.localPosition);
+        sensor.AddObservation(hand.transform.localPosition);
+
+        sensor.AddObservation(pendulumA.transform.localPosition);
+        sensor.AddObservation(pendulumA.transform.rotation);
+        sensor.AddObservation(m_RbA.angularVelocity);
+        sensor.AddObservation(m_RbA.velocity);
+
+        sensor.AddObservation(m_GoalSpeed);
+    }
+
+    /// <summary>
+    /// The agent's four actions correspond to torques on each of the two joints.
+    /// </summary>
+    public override void OnActionReceived(float[] vectorAction)
+    {
+        m_GoalDegree += m_GoalSpeed;
+        UpdateGoalPosition();
+
+        var torqueX = Mathf.Clamp(vectorAction[0], -1f, 1f) * 150f;
+        var torqueZ = Mathf.Clamp(vectorAction[1], -1f, 1f) * 150f;
+        m_RbA.AddTorque(new Vector3(torqueX, 0f, torqueZ));
+
+        torqueX = Mathf.Clamp(vectorAction[2], -1f, 1f) * 150f;
+        torqueZ = Mathf.Clamp(vectorAction[3], -1f, 1f) * 150f;
+        m_RbB.AddTorque(new Vector3(torqueX, 0f, torqueZ));
+    }
+
+    /// <summary>
+    /// Used to move the position of the target goal around the agent.
+    /// </summary>
+    void UpdateGoalPosition()
+    {
+        var radians = m_GoalDegree * Mathf.PI / 180f;
+        var goalX = 8f * Mathf.Cos(radians);
+        var goalY = 8f * Mathf.Sin(radians);
+        var goalZ = m_Deviation * Mathf.Cos(m_DeviationFreq * radians);
+        goal.transform.position = new Vector3(goalY, goalZ, goalX) + transform.position;
+    }
+
+    /// <summary>
+    /// Resets the position and velocity of the agent and the goal.
+    /// </summary>
+    public override void OnEpisodeBegin()
+    {
+        pendulumA.transform.position = new Vector3(0f, -4f, 0f) + transform.position;
+        pendulumA.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
+        m_RbA.velocity = Vector3.zero;
+        m_RbA.angularVelocity = Vector3.zero;
+
+        pendulumB.transform.position = new Vector3(0f, -10f, 0f) + transform.position;
+        pendulumB.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
+        m_RbB.velocity = Vector3.zero;
+        m_RbB.angularVelocity = Vector3.zero;
+
+        m_GoalDegree = Random.Range(0, 360);
+        UpdateGoalPosition();
+
+        SetResetParameters();
+
+
+        goal.transform.localScale = new Vector3(m_GoalSize, m_GoalSize, m_GoalSize);
+    }
+
+    public void SetResetParameters()
+    {
+        m_GoalSize = m_ResetParams.GetWithDefault("goal_size", 5);
+        m_GoalSpeed = Random.Range(-1f, 1f) * m_ResetParams.GetWithDefault("goal_speed", 1);
+        m_Deviation = m_ResetParams.GetWithDefault("deviation", 0);
+        m_DeviationFreq = m_ResetParams.GetWithDefault("deviation_freq", 0);
+    }
+}

Project/Assets/ML-Agents/Examples/Reacher/Scripts/NewReacherAgent.cs.meta

+fileFormatVersion: 2
+guid: edb64e09da9d24711a34f40c4101b8d2
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

config/sac_transfer/Reacher.yaml

+behaviors:
+  Reacher:
+    trainer_type: sac_transfer
+    hyperparameters:
+      learning_rate: 0.0003
+      learning_rate_schedule: constant
+      model_schedule: constant
+      batch_size: 128
+      buffer_size: 500000
+      buffer_init_steps: 0
+      tau: 0.005
+      steps_per_update: 20.0
+      save_replay_buffer: false
+      init_entcoef: 1.0
+      reward_signal_steps_per_update: 20.0
+      encoder_layers: 2
+      policy_layers: 2
+      forward_layers: 0
+      value_layers: 2
+      action_layers: 2
+      feature_size: 64
+      action_feature_size: 16
+      separate_policy_train: true
+      separate_policy_net: true
+      separate_model_train: true
+      reuse_encoder: true
+      in_epoch_alter: false
+      in_batch_alter: true
+      use_op_buffer: false
+      use_var_predict: true
+      with_prior: false
+      predict_return: true
+      use_bisim: false
+    network_settings:
+      normalize: true
+      hidden_units: 128
+      num_layers: 2
+      vis_encode_type: simple
+    reward_signals:
+      extrinsic:
+        gamma: 0.99
+        strength: 1.0
+    keep_checkpoints: 5
+    max_steps: 8000000
+    time_horizon: 1000
+    summary_freq: 60000
+    threaded: true