Implemented agent reset via prefab respawning for ArticulatedReacher and ArticulatedReacherManualControl scenes.

UnitySDK/Assets/ML-Agents/Examples/Crawler/Prefabs/ArticulatedCrawler.prefab

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UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedCrawlerAgent.cs

+using System;
+using Random = UnityEngine.Random;
 
 [RequireComponent(typeof(ArticulatedJointDriveController))] // Required to set joint forces
 public class ArticulatedCrawlerAgent : Agent
     public Transform leg3Upper;
     public Transform leg3Lower;
 
+    private string bodyName;
+    private string leg0UpperName;
+    private string leg0LowerName;
+    private string leg1UpperName;
+    private string leg1LowerName;
+    private string leg2UpperName;
+    private string leg2LowerName;
+    private string leg3UpperName;
+    private string leg3LowerName;
+    
+    
     [Header("Joint Settings")][Space(10)] ArticulatedJointDriveController m_JdController;
     Vector3 m_DirToTarget;
     float m_MovingTowardsDot;
 
         m_JdController.Reset();
         SetupBodyParts();
+        SaveBodyPartNames();
     }
 
     /// <summary>
         m_JdController.SetupBodyPart(leg2Lower);
         m_JdController.SetupBodyPart(leg3Upper);
         m_JdController.SetupBodyPart(leg3Lower);
+    }
+
+    private void SaveBodyPartNames()
+    {
+        bodyName = body.name;
+        leg0UpperName = leg0Upper.name;
+        leg0LowerName = leg0Lower.name;
+        leg1UpperName = leg1Upper.name;
+        leg1LowerName = leg1Lower.name;
+        leg2UpperName = leg2Upper.name;
+        leg2LowerName = leg2Lower.name;
+        leg3UpperName = leg3Upper.name;
+        leg3LowerName = leg3Lower.name;
     }
     
     /// <summary>
     /// <param name="rootBody"></param>
     private void ResetLegTransforms(Transform rootBody)
     {
-        leg0Upper = ArticulatedJointDriveController.FindBodyPartByName(rootBody,"leg0");
-        leg1Upper = ArticulatedJointDriveController.FindBodyPartByName(rootBody,"leg1");
-        leg2Upper = ArticulatedJointDriveController.FindBodyPartByName(rootBody,"leg2");
-        leg3Upper = ArticulatedJointDriveController.FindBodyPartByName(rootBody,"leg3");
+        leg0Upper = ArticulatedJointDriveController.FindBodyPartByName(rootBody, leg0UpperName);
+        leg1Upper = ArticulatedJointDriveController.FindBodyPartByName(rootBody, leg1UpperName);
+        leg2Upper = ArticulatedJointDriveController.FindBodyPartByName(rootBody, leg2UpperName);
+        leg3Upper = ArticulatedJointDriveController.FindBodyPartByName(rootBody, leg3UpperName);
-        leg0Lower = ArticulatedJointDriveController.FindBodyPartByName(rootBody,"foreleg0");
-        leg1Lower = ArticulatedJointDriveController.FindBodyPartByName(rootBody,"foreleg1");
-        leg2Lower = ArticulatedJointDriveController.FindBodyPartByName(rootBody,"foreleg2");
-        leg3Lower = ArticulatedJointDriveController.FindBodyPartByName(rootBody,"foreleg3");
+        leg0Lower = ArticulatedJointDriveController.FindBodyPartByName(rootBody, leg0LowerName);
+        leg1Lower = ArticulatedJointDriveController.FindBodyPartByName(rootBody, leg1LowerName);
+        leg2Lower = ArticulatedJointDriveController.FindBodyPartByName(rootBody, leg2LowerName);
+        leg3Lower = ArticulatedJointDriveController.FindBodyPartByName(rootBody, leg3LowerName);
     }
 }

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

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

 
 public class ArticulatedReacherAgent : Agent
 {
+    public GameObject reacherRoot;
+    public GameObject reacherRootPrefab;
+    
+
+    private string m_PendulumAName;
+    private string m_PendulumBName;
+    private string m_ReacherRootName;
+    private string m_HandName;
+    
     private ArticulationBody m_RbA;
     private ArticulationBody m_RbB;
     // speed of the goal zone around the arm (in radians)
         m_RbB = pendulumB.GetComponent<ArticulationBody>();
         m_MyAcademy = GameObject.Find("Academy").GetComponent<ReacherAcademy>();
 
+        
+        m_PendulumAName = pendulumA.name;
+        m_PendulumBName = pendulumB.name; 
+        m_ReacherRootName = reacherRoot.name;
+        m_HandName = hand.name;
+        
         SetResetParameters();
     }
 
     /// </summary>
     public override void CollectObservations()
     {
-        Vector3 pendulumAPosToLocalSpace = gameObject.transform.InverseTransformPoint(pendulumA.transform.position); 
+        Vector3 pendulumAPosToLocalSpace = transform.InverseTransformPoint(pendulumA.transform.position); 
-        AddVectorObs(gameObject.transform.InverseTransformVector(m_RbA.angularVelocity));
-        AddVectorObs(gameObject.transform.InverseTransformVector(m_RbA.velocity));
+        AddVectorObs(transform.InverseTransformVector(m_RbA.angularVelocity));
+        AddVectorObs(transform.InverseTransformVector(m_RbA.velocity));
         // Below resulted in 0.0732 after 1 M steps, not learning
         //AddVectorObs(m_RbA.angularVelocity);
         //AddVectorObs(m_RbA.velocity);
-        Vector3 pendulumBPosToLocalSpace = gameObject.transform.InverseTransformPoint(pendulumB.transform.position);
+        Vector3 pendulumBPosToLocalSpace = transform.InverseTransformPoint(pendulumB.transform.position);
-        AddVectorObs(gameObject.transform.InverseTransformVector(m_RbB.angularVelocity));
-        AddVectorObs(gameObject.transform.InverseTransformVector(m_RbB.velocity));
+        AddVectorObs(transform.InverseTransformVector(m_RbB.angularVelocity));
+        AddVectorObs(transform.InverseTransformVector(m_RbB.velocity));
-        Vector3 goalPosToLocalSpace = gameObject.transform.InverseTransformPoint(goal.transform.position); 
+        Vector3 goalPosToLocalSpace = transform.InverseTransformPoint(goal.transform.position); 
-        Vector3 handPosToLocalSpace = gameObject.transform.InverseTransformPoint(hand.transform.position); 
+        Vector3 handPosToLocalSpace = transform.InverseTransformPoint(hand.transform.position); 
         AddVectorObs(handPosToLocalSpace);
 
         //AddVectorObs(m_GoalSpeed);
     /// </summary>
     public override void AgentReset()
     {
-        pendulumA.transform.position = new Vector3(0f, -4f, 0f) + transform.position;
-        pendulumA.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
+        Vector3 position = reacherRoot.transform.position;
+        Quaternion rotation = Quaternion.identity;
+        
+        DestroyImmediate(reacherRoot);
+        reacherRoot = Instantiate(reacherRootPrefab, position, rotation);
+        reacherRoot.transform.parent = transform;
+        reacherRoot.name = m_ReacherRootName;
+
+        pendulumA = reacherRoot.transform.GetChild(0).Find(m_PendulumAName).gameObject;
+        pendulumB = pendulumA.transform.Find(m_PendulumBName).gameObject;
+        hand = pendulumB.transform.GetChild(0).Find(m_HandName).gameObject;
+        
-        pendulumB.transform.position = new Vector3(0f, -10f, 0f) + transform.position;
-        pendulumB.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
+        m_RbA = pendulumA.GetComponent<ArticulationBody>();
+        m_RbB = pendulumB.GetComponent<ArticulationBody>();
-
+        
+        // Supply correct newly instantiated hand for collision checking
+        ArticulatedReacherGoal gc = goal.GetComponent<ArticulatedReacherGoal>();
+        gc.hand = hand;
+    
 
     public void SetResetParameters()
     {
         m_DeviationFreq = m_MyAcademy.resetParameters["deviation_freq"];
     }
-    
     
 }

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

 using System;
+using System.Net;
+    public GameObject reacherRoot;
+
+    public GameObject reacherRootPrefab;
+    
     private ArticulationBody m_AbA;
     private ArticulationBody m_AbB;
     
     /// </summary>
     public void AgentReset()
     {
-        pendulumA.transform.position = new Vector3(0f, -4f, 0f) + transform.position;
-        pendulumA.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
+        if (!useArticulations)
+            return;
+
+        string pendulumAName = pendulumA.name;
+        string pendulumBName = pendulumB.name; 
+        string reacherRootName = reacherRoot.name;
+        Vector3 position = reacherRoot.transform.position;
+        Quaternion rotation = Quaternion.identity;
+        
+        DestroyImmediate(reacherRoot);
+        reacherRoot = Instantiate(reacherRootPrefab, position, rotation);
+        reacherRoot.transform.parent = transform;
+        reacherRoot.name = reacherRootName;
+
+        pendulumA = reacherRoot.transform.GetChild(0).Find(pendulumAName).gameObject;
+        pendulumB = pendulumA.transform.Find(pendulumBName).gameObject;
+        
+        m_AbA = pendulumA.GetComponent<ArticulationBody>();
+        m_AbB = pendulumB.GetComponent<ArticulationBody>();
-        pendulumB.transform.position = new Vector3(0f, -10f, 0f) + transform.position;
-        pendulumB.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
     }
 
     public void FixedUpdate()
         }
 
 
+        // Only for articulations
         if (Input.GetKey(KeyCode.Escape))
             AgentReset();
     }

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