Merge pull request #458 from Unity-Technologies/feature/Reacher-model-update

Updated the Reacher's model file, also updated the Reacher's agent co…

unity-environment/Assets/ML-Agents/Examples/Reacher/Scene.unity

   m_ReflectionIntensity: 1
   m_CustomReflection: {fileID: 0}
   m_Sun: {fileID: 762086411}
-  m_IndirectSpecularColor: {r: 0.4465785, g: 0.49641252, b: 0.574817, a: 1}
+  m_IndirectSpecularColor: {r: 0.4465934, g: 0.49642956, b: 0.5748249, a: 1}
 --- !u!157 &3
 LightmapSettings:
   m_ObjectHideFlags: 0
     m_PVRFilteringAtrousPositionSigmaDirect: 0.5
     m_PVRFilteringAtrousPositionSigmaIndirect: 2
     m_PVRFilteringAtrousPositionSigmaAO: 1
+    m_ShowResolutionOverlay: 1
   m_LightingDataAsset: {fileID: 0}
   m_UseShadowmask: 1
 --- !u!196 &4
     debug:
       m_Flags: 0
   m_NavMeshData: {fileID: 0}
+--- !u!114 &77695183
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 0}
+  m_GameObject: {fileID: 0}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 41e9bda8f3cf1492fa74926a530f6f70, type: 3}
+  m_Name: (Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)
+  m_EditorClassIdentifier: 
+  broadcast: 1
+  continuousPlayerActions:
+  - key: 273
+    index: 0
+    value: 1
+  - key: 274
+    index: 0
+    value: -1
+  - key: 275
+    index: 1
+    value: 1
+  - key: 276
+    index: 1
+    value: -1
+  discretePlayerActions: []
+  defaultAction: -1
+  brain: {fileID: 846768605}
 --- !u!1001 &103720292
 Prefab:
   m_ObjectHideFlags: 0
   m_PrefabParentObject: {fileID: 1644872085946016, guid: 2f13abef2db804f96bdc7692a1dcf2b2,
     type: 2}
   m_PrefabInternal: {fileID: 103720292}
+--- !u!114 &199159743
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 0}
+  m_GameObject: {fileID: 0}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 35813a1be64e144f887d7d5f15b963fa, type: 3}
+  m_Name: (Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)
+  m_EditorClassIdentifier: 
+  brain: {fileID: 846768605}
 --- !u!1001 &201192304
 Prefab:
   m_ObjectHideFlags: 0
   m_PrefabParentObject: {fileID: 1644872085946016, guid: 2f13abef2db804f96bdc7692a1dcf2b2,
     type: 2}
   m_PrefabInternal: {fileID: 376525309}
---- !u!114 &399235793
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_PrefabParentObject: {fileID: 0}
-  m_PrefabInternal: {fileID: 0}
-  m_GameObject: {fileID: 0}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 41e9bda8f3cf1492fa74926a530f6f70, type: 3}
-  m_Name: (Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)
-  m_EditorClassIdentifier: 
-  broadcast: 1
-  continuousPlayerActions: []
-  discretePlayerActions: []
-  defaultAction: -1
-  brain: {fileID: 846768605}
 --- !u!1001 &405812494
 Prefab:
   m_ObjectHideFlags: 0
   m_PrefabParentObject: {fileID: 1644872085946016, guid: 2f13abef2db804f96bdc7692a1dcf2b2,
     type: 2}
   m_PrefabInternal: {fileID: 813023944}
---- !u!114 &831098326
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_PrefabParentObject: {fileID: 0}
-  m_PrefabInternal: {fileID: 0}
-  m_GameObject: {fileID: 0}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 943466ab374444748a364f9d6c3e2fe2, type: 3}
-  m_Name: (Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)
-  m_EditorClassIdentifier: 
-  broadcast: 1
-  brain: {fileID: 0}
 --- !u!1 &846768603
 GameObject:
   m_ObjectHideFlags: 0
   m_Name: 
   m_EditorClassIdentifier: 
   brainParameters:
-    vectorObservationSize: 24
+    vectorObservationSize: 26
     numStackedVectorObservations: 3
     vectorActionSize: 4
     cameraResolutions: []
     - 
     vectorActionSpaceType: 1
     vectorObservationSpaceType: 1
-  brainType: 2
+  brainType: 0
-  - {fileID: 399235793}
-  - {fileID: 831098326}
-  - {fileID: 1767077297}
-  - {fileID: 1188890699}
-  instanceID: 19516
+  - {fileID: 77695183}
+  - {fileID: 1951521470}
+  - {fileID: 199159743}
+  - {fileID: 1718620151}
+  instanceID: 11320
 --- !u!1001 &915173805
 Prefab:
   m_ObjectHideFlags: 0
   m_PrefabParentObject: {fileID: 1644872085946016, guid: 2f13abef2db804f96bdc7692a1dcf2b2,
     type: 2}
   m_PrefabInternal: {fileID: 1185345513}
---- !u!114 &1188890699
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_PrefabParentObject: {fileID: 0}
-  m_PrefabInternal: {fileID: 0}
-  m_GameObject: {fileID: 0}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 8b23992c8eb17439887f5e944bf04a40, type: 3}
-  m_Name: (Clone)(Clone)(Clone)(Clone)(Clone)(Clone)
-  m_EditorClassIdentifier: 
-  broadcast: 1
-  graphModel: {fileID: 4900000, guid: 8db6173148a6f4e7fa654ed627c88d7a, type: 3}
-  graphScope: 
-  graphPlaceholders: []
-  BatchSizePlaceholderName: batch_size
-  VectorObservationPlacholderName: state
-  RecurrentInPlaceholderName: recurrent_in
-  RecurrentOutPlaceholderName: recurrent_out
-  VisualObservationPlaceholderName: []
-  ActionPlaceholderName: action
-  PreviousActionPlaceholderName: prev_action
-  brain: {fileID: 846768605}
 --- !u!1001 &1216133380
 Prefab:
   m_ObjectHideFlags: 0
   m_Name: 
   m_EditorClassIdentifier: 
   maxSteps: 0
-  isInference: 0
   trainingConfiguration:
     width: 80
     height: 80
       value: 5
     - key: goal_speed
       value: 0.5
-  episodeCount: 1
-  stepsSinceReset: 0
   goalSize: 5
   goalSpeed: 0.5
 --- !u!4 &1574236049
   m_PrefabParentObject: {fileID: 1644872085946016, guid: 2f13abef2db804f96bdc7692a1dcf2b2,
     type: 2}
   m_PrefabInternal: {fileID: 1716924926}
---- !u!114 &1767077297
+--- !u!114 &1718620151
 MonoBehaviour:
   m_ObjectHideFlags: 0
   m_PrefabParentObject: {fileID: 0}
   m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 35813a1be64e144f887d7d5f15b963fa, type: 3}
-  m_Name: (Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)
+  m_Script: {fileID: 11500000, guid: 8b23992c8eb17439887f5e944bf04a40, type: 3}
+  m_Name: (Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)
+  broadcast: 1
+  graphModel: {fileID: 4900000, guid: 8db6173148a6f4e7fa654ed627c88d7a, type: 3}
+  graphScope: 
+  graphPlaceholders: []
+  BatchSizePlaceholderName: batch_size
+  VectorObservationPlacholderName: vector_observation
+  RecurrentInPlaceholderName: recurrent_in
+  RecurrentOutPlaceholderName: recurrent_out
+  VisualObservationPlaceholderName: []
+  ActionPlaceholderName: action
+  PreviousActionPlaceholderName: prev_action
   brain: {fileID: 846768605}
 --- !u!1001 &1781444637
 Prefab:
   m_PrefabParentObject: {fileID: 1644872085946016, guid: 2f13abef2db804f96bdc7692a1dcf2b2,
     type: 2}
   m_PrefabInternal: {fileID: 1841088229}
+--- !u!114 &1951521470
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 0}
+  m_GameObject: {fileID: 0}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 943466ab374444748a364f9d6c3e2fe2, type: 3}
+  m_Name: (Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)(Clone)
+  m_EditorClassIdentifier: 
+  broadcast: 1
+  brain: {fileID: 846768605}
 --- !u!1001 &1966651351
 Prefab:
   m_ObjectHideFlags: 0

unity-environment/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAgent.cs

     /// </summary>
     public override void CollectObservations()
     {
-        AddVectorObs(pendulumA.transform.rotation.eulerAngles / 180.0f - Vector3.one);
+        AddVectorObs(pendulumA.transform.rotation);
-        AddVectorObs(pendulumB.transform.rotation.eulerAngles / 180.0f - Vector3.one);
+        AddVectorObs(pendulumB.transform.rotation);
         AddVectorObs(rbB.angularVelocity);
         AddVectorObs(rbB.velocity);