Somewhat working Articulated Reacher, however still WIP: training performance is way different from standard RB version.

UnitySDK/Assets/ML-Agents/Examples/Reacher/Prefabs/ArticulatedAgent.prefab

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UnitySDK/Assets/ML-Agents/Examples/Reacher/Scenes/Reacher.unity

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UnitySDK/Assets/ML-Agents/Examples/Reacher/Scripts/ArticulatedReacherAgent.cs

         m_GoalDegree += m_GoalSpeed;
         UpdateGoalPosition();
 
-        var torqueX = Mathf.Clamp(vectorAction[0], -1f, 1f) * 150f;
-        var torqueZ = Mathf.Clamp(vectorAction[1], -1f, 1f) * 150f;
+        //float maxTorque = 150f;
+        //float maxTorque = 500f;
+        float maxTorque = 1000f;
+        
+        var torqueX = Mathf.Clamp(vectorAction[0], -1f, 1f) * maxTorque;
+        var torqueZ = Mathf.Clamp(vectorAction[1], -1f, 1f) * maxTorque;
-        torqueX = Mathf.Clamp(vectorAction[2], -1f, 1f) * 150f;
-        torqueZ = Mathf.Clamp(vectorAction[3], -1f, 1f) * 150f;
+        torqueX = Mathf.Clamp(vectorAction[2], -1f, 1f) * maxTorque;
+        torqueZ = Mathf.Clamp(vectorAction[3], -1f, 1f) * maxTorque;
         m_RbB.AddTorque(new Vector3(torqueX, 0f, torqueZ));
     }
 
     /// </summary>
     public override void AgentReset()
     {
-        //pendulumA.transform.position = new Vector3(0f, -4f, 0f) + transform.position;
-        //pendulumA.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
+        pendulumA.transform.position = new Vector3(0f, -4f, 0f) + transform.position;
+        pendulumA.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
-        //pendulumB.transform.position = new Vector3(0f, -10f, 0f) + transform.position;
-        //pendulumB.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
+        pendulumB.transform.position = new Vector3(0f, -10f, 0f) + transform.position;
+        pendulumB.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
         
         m_GoalDegree = Random.Range(0, 360);
         UpdateGoalPosition();

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UnitySDK/Assets/ML-Agents/Examples/Reacher/Scripts/ArticulatedReacherGoal.cs

+using UnityEngine;
+
+public class ArticulatedReacherGoal : MonoBehaviour
+{
+    public GameObject agent;
+    public GameObject hand;
+    public GameObject goalOn;
+
+    private void OnTriggerEnter(Collider other)
+    {
+        if (other.gameObject == hand)
+        {
+            goalOn.transform.localScale = new Vector3(1f, 1f, 1f);
+        }
+    }
+
+    private void OnTriggerExit(Collider other)
+    {
+        if (other.gameObject == hand)
+        {
+            goalOn.transform.localScale = new Vector3(0f, 0f, 0f);
+        }
+    }
+
+    private void OnTriggerStay(Collider other)
+    {
+        if (other.gameObject == hand)
+        {
+            agent.GetComponent<ArticulatedReacherAgent>().AddReward(0.01f);
+        }
+    }
+}

UnitySDK/Assets/ML-Agents/Examples/Reacher/Scripts/ArticulatedReacherGoal.cs.meta

+fileFormatVersion: 2
+guid: 2d2344574cfd47319259fc8d3483768c
+timeCreated: 1571659206