Initial changes/experiment scenes for articulated reacher.

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

+fileFormatVersion: 2
+guid: 142b1673ab3eef5f098717cab90c53bf
+PrefabImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

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

+fileFormatVersion: 2
+guid: 36c2de1a721aa550b8b9a53c6736ed89
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

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

+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!29 &1
+OcclusionCullingSettings:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_OcclusionBakeSettings:
+    smallestOccluder: 5
+    smallestHole: 0.25
+    backfaceThreshold: 100
+  m_SceneGUID: 00000000000000000000000000000000
+  m_OcclusionCullingData: {fileID: 0}
+--- !u!104 &2
+RenderSettings:
+  m_ObjectHideFlags: 0
+  serializedVersion: 9
+  m_Fog: 0
+  m_FogColor: {r: 0.5, g: 0.5, b: 0.5, a: 1}
+  m_FogMode: 3
+  m_FogDensity: 0.01
+  m_LinearFogStart: 0
+  m_LinearFogEnd: 300
+  m_AmbientSkyColor: {r: 0.212, g: 0.227, b: 0.259, a: 1}
+  m_AmbientEquatorColor: {r: 0.114, g: 0.125, b: 0.133, a: 1}
+  m_AmbientGroundColor: {r: 0.047, g: 0.043, b: 0.035, a: 1}
+  m_AmbientIntensity: 1
+  m_AmbientMode: 0
+  m_SubtractiveShadowColor: {r: 0.42, g: 0.478, b: 0.627, a: 1}
+  m_SkyboxMaterial: {fileID: 10304, guid: 0000000000000000f000000000000000, type: 0}
+  m_HaloStrength: 0.5
+  m_FlareStrength: 1
+  m_FlareFadeSpeed: 3
+  m_HaloTexture: {fileID: 0}
+  m_SpotCookie: {fileID: 10001, guid: 0000000000000000e000000000000000, type: 0}
+  m_DefaultReflectionMode: 0
+  m_DefaultReflectionResolution: 128
+  m_ReflectionBounces: 1
+  m_ReflectionIntensity: 1
+  m_CustomReflection: {fileID: 0}
+  m_Sun: {fileID: 0}
+  m_IndirectSpecularColor: {r: 0, g: 0, b: 0, a: 1}
+  m_UseRadianceAmbientProbe: 0
+--- !u!157 &3
+LightmapSettings:
+  m_ObjectHideFlags: 0
+  serializedVersion: 11
+  m_GIWorkflowMode: 1
+  m_GISettings:
+    serializedVersion: 2
+    m_BounceScale: 1
+    m_IndirectOutputScale: 1
+    m_AlbedoBoost: 1
+    m_EnvironmentLightingMode: 0
+    m_EnableBakedLightmaps: 1
+    m_EnableRealtimeLightmaps: 0
+  m_LightmapEditorSettings:
+    serializedVersion: 12
+    m_Resolution: 2
+    m_BakeResolution: 40
+    m_AtlasSize: 1024
+    m_AO: 0
+    m_AOMaxDistance: 1
+    m_CompAOExponent: 1
+    m_CompAOExponentDirect: 0
+    m_ExtractAmbientOcclusion: 0
+    m_Padding: 2
+    m_LightmapParameters: {fileID: 0}
+    m_LightmapsBakeMode: 1
+    m_TextureCompression: 1
+    m_FinalGather: 0
+    m_FinalGatherFiltering: 1
+    m_FinalGatherRayCount: 256
+    m_ReflectionCompression: 2
+    m_MixedBakeMode: 2
+    m_BakeBackend: 1
+    m_PVRSampling: 1
+    m_PVRDirectSampleCount: 32
+    m_PVRSampleCount: 512
+    m_PVRBounces: 2
+    m_PVREnvironmentSampleCount: 256
+    m_PVREnvironmentReferencePointCount: 2048
+    m_PVRFilteringMode: 1
+    m_PVRDenoiserTypeDirect: 1
+    m_PVRDenoiserTypeIndirect: 1
+    m_PVRDenoiserTypeAO: 1
+    m_PVRFilterTypeDirect: 0
+    m_PVRFilterTypeIndirect: 0
+    m_PVRFilterTypeAO: 0
+    m_PVREnvironmentMIS: 1
+    m_PVRCulling: 1
+    m_PVRFilteringGaussRadiusDirect: 1
+    m_PVRFilteringGaussRadiusIndirect: 5
+    m_PVRFilteringGaussRadiusAO: 2
+    m_PVRFilteringAtrousPositionSigmaDirect: 0.5
+    m_PVRFilteringAtrousPositionSigmaIndirect: 2
+    m_PVRFilteringAtrousPositionSigmaAO: 1
+    m_ExportTrainingData: 0
+    m_TrainingDataDestination: TrainingData
+    m_LightProbeSampleCountMultiplier: 4
+  m_LightingDataAsset: {fileID: 0}
+  m_UseShadowmask: 1
+--- !u!196 &4
+NavMeshSettings:
+  serializedVersion: 2
+  m_ObjectHideFlags: 0
+  m_BuildSettings:
+    serializedVersion: 2
+    agentTypeID: 0
+    agentRadius: 0.5
+    agentHeight: 2
+    agentSlope: 45
+    agentClimb: 0.4
+    ledgeDropHeight: 0
+    maxJumpAcrossDistance: 0
+    minRegionArea: 2
+    manualCellSize: 0
+    cellSize: 0.16666667
+    manualTileSize: 0
+    tileSize: 256
+    accuratePlacement: 0
+    debug:
+      m_Flags: 0
+  m_NavMeshData: {fileID: 0}
+--- !u!1 &167556899
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 167556901}
+  - component: {fileID: 167556900}
+  m_Layer: 0
+  m_Name: rootBone
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!171741748 &167556900
+ArticulationBody:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 167556899}
+  m_Enabled: 1
+  m_Mass: 1
+  m_ParentAnchorPosition: {x: 0, y: 0, z: 0}
+  m_ParentAnchorRotation: {x: 0, y: 0, z: 0.7071068, w: 0.7071068}
+  m_AnchorPosition: {x: 0, y: 0, z: 0}
+  m_AnchorRotation: {x: 0, y: 0, z: 0.70710677, w: 0.70710677}
+  m_ComputeParentAnchor: 1
+  m_ArticulationJointType: 0
+  m_LinearX: 0
+  m_LinearY: 0
+  m_LinearZ: 0
+  m_Swing1: 0
+  m_Swing2: 0
+  m_Twist: 0
+  m_XDrive:
+    lowerLimit: 0
+    upperLimit: 0
+    stiffness: 0
+    damping: 0
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+  m_YDrive:
+    lowerLimit: 0
+    upperLimit: 0
+    stiffness: 0
+    damping: 0
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+  m_ZDrive:
+    lowerLimit: 0
+    upperLimit: 0
+    stiffness: 0
+    damping: 0
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+  m_LinearDamping: 0.05
+  m_AngularDamping: 0.05
+  m_JointFriction: 0.05
+  m_Immovable: 1
+--- !u!4 &167556901
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 167556899}
+  m_LocalRotation: {x: 0.41331053, y: -0.027365169, z: -0.12993167, w: 0.90085703}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children:
+  - {fileID: 192061208}
+  - {fileID: 858920505}
+  m_Father: {fileID: 0}
+  m_RootOrder: 2
+  m_LocalEulerAnglesHint: {x: 47.524002, y: -13.419001, z: -22.344002}
+--- !u!1 &192061204
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 192061208}
+  - component: {fileID: 192061207}
+  - component: {fileID: 192061206}
+  - component: {fileID: 192061205}
+  m_Layer: 0
+  m_Name: Sphere
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!135 &192061205
+SphereCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 192061204}
+  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 &192061206
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 192061204}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 10303, guid: 0000000000000000f000000000000000, type: 0}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
+  m_PreserveUVs: 0
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 1
+  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!33 &192061207
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 192061204}
+  m_Mesh: {fileID: 10207, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!4 &192061208
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 192061204}
+  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: 167556901}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1 &270716407
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 270716408}
+  - component: {fileID: 270716409}
+  m_Layer: 0
+  m_Name: bone2
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &270716408
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 270716407}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: -4.25, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children:
+  - {fileID: 1757323893}
+  m_Father: {fileID: 858920505}
+  m_RootOrder: 1
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!171741748 &270716409
+ArticulationBody:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 270716407}
+  m_Enabled: 1
+  m_Mass: 1
+  m_ParentAnchorPosition: {x: -0.000000059604645, y: -2.2500007, z: 0.00000047683716}
+  m_ParentAnchorRotation: {x: 0, y: 0, z: 0.7071068, w: 0.7071068}
+  m_AnchorPosition: {x: 0, y: 2, z: 0}
+  m_AnchorRotation: {x: 0, y: 0, z: 0.70710677, w: 0.70710677}
+  m_ComputeParentAnchor: 1
+  m_ArticulationJointType: 3
+  m_LinearX: 0
+  m_LinearY: 0
+  m_LinearZ: 0
+  m_Swing1: 2
+  m_Swing2: 2
+  m_Twist: 2
+  m_XDrive:
+    lowerLimit: 0
+    upperLimit: 0
+    stiffness: 0
+    damping: 0
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+  m_YDrive:
+    lowerLimit: 0
+    upperLimit: 0
+    stiffness: 0
+    damping: 0
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+  m_ZDrive:
+    lowerLimit: 0
+    upperLimit: 0
+    stiffness: 0
+    damping: 0
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+  m_LinearDamping: 0.05
+  m_AngularDamping: 0.05
+  m_JointFriction: 0.05
+  m_Immovable: 1
+--- !u!1 &456935350
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 456935352}
+  - component: {fileID: 456935351}
+  m_Layer: 0
+  m_Name: Directional Light
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!108 &456935351
+Light:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 456935350}
+  m_Enabled: 1
+  serializedVersion: 10
+  m_Type: 1
+  m_Shape: 0
+  m_Color: {r: 1, g: 0.95686275, b: 0.8392157, a: 1}
+  m_Intensity: 1
+  m_Range: 10
+  m_SpotAngle: 30
+  m_InnerSpotAngle: 21.802082
+  m_CookieSize: 10
+  m_Shadows:
+    m_Type: 2
+    m_Resolution: -1
+    m_CustomResolution: -1
+    m_Strength: 1
+    m_Bias: 0.05
+    m_NormalBias: 0.4
+    m_NearPlane: 0.2
+    m_CullingMatrixOverride:
+      e00: 1
+      e01: 0
+      e02: 0
+      e03: 0
+      e10: 0
+      e11: 1
+      e12: 0
+      e13: 0
+      e20: 0
+      e21: 0
+      e22: 1
+      e23: 0
+      e30: 0
+      e31: 0
+      e32: 0
+      e33: 1
+    m_UseCullingMatrixOverride: 0
+  m_Cookie: {fileID: 0}
+  m_DrawHalo: 0
+  m_Flare: {fileID: 0}
+  m_RenderMode: 0
+  m_CullingMask:
+    serializedVersion: 2
+    m_Bits: 4294967295
+  m_RenderingLayerMask: 1
+  m_Lightmapping: 4
+  m_LightShadowCasterMode: 0
+  m_AreaSize: {x: 1, y: 1}
+  m_BounceIntensity: 1
+  m_ColorTemperature: 6570
+  m_UseColorTemperature: 0
+  m_BoundingSphereOverride: {x: 0, y: 0, z: 0, w: 0}
+  m_UseBoundingSphereOverride: 0
+  m_ShadowRadius: 0
+  m_ShadowAngle: 0
+--- !u!4 &456935352
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 456935350}
+  m_LocalRotation: {x: 0.40821788, y: -0.23456968, z: 0.10938163, w: 0.8754261}
+  m_LocalPosition: {x: 0, y: 3, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_RootOrder: 1
+  m_LocalEulerAnglesHint: {x: 50, y: -30, z: 0}
+--- !u!1 &554120679
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 554120682}
+  - component: {fileID: 554120681}
+  - component: {fileID: 554120680}
+  m_Layer: 0
+  m_Name: Main Camera
+  m_TagString: MainCamera
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!81 &554120680
+AudioListener:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 554120679}
+  m_Enabled: 1
+--- !u!20 &554120681
+Camera:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 554120679}
+  m_Enabled: 1
+  serializedVersion: 2
+  m_ClearFlags: 1
+  m_BackGroundColor: {r: 0.19215687, g: 0.3019608, b: 0.4745098, a: 0}
+  m_projectionMatrixMode: 1
+  m_GateFitMode: 2
+  m_FOVAxisMode: 0
+  m_SensorSize: {x: 36, y: 24}
+  m_LensShift: {x: 0, y: 0}
+  m_FocalLength: 50
+  m_NormalizedViewPortRect:
+    serializedVersion: 2
+    x: 0
+    y: 0
+    width: 1
+    height: 1
+  near clip plane: 0.3
+  far clip plane: 1000
+  field of view: 60
+  orthographic: 0
+  orthographic size: 5
+  m_Depth: -1
+  m_CullingMask:
+    serializedVersion: 2
+    m_Bits: 4294967295
+  m_RenderingPath: -1
+  m_TargetTexture: {fileID: 0}
+  m_TargetDisplay: 0
+  m_TargetEye: 3
+  m_HDR: 1
+  m_AllowMSAA: 1
+  m_AllowDynamicResolution: 0
+  m_ForceIntoRT: 0
+  m_OcclusionCulling: 1
+  m_StereoConvergence: 10
+  m_StereoSeparation: 0.022
+--- !u!4 &554120682
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 554120679}
+  m_LocalRotation: {x: 0.0000002682209, y: -0.00000020861626, z: 0.000000067055225,
+    w: 1}
+  m_LocalPosition: {x: -0.44699097, y: -5.8617096, z: -14.927282}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1 &858920504
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 858920505}
+  - component: {fileID: 858920506}
+  m_Layer: 0
+  m_Name: bone1
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &858920505
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 858920504}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: -2.64, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children:
+  - {fileID: 953926812}
+  - {fileID: 270716408}
+  m_Father: {fileID: 167556901}
+  m_RootOrder: 1
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!171741748 &858920506
+ArticulationBody:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 858920504}
+  m_Enabled: 1
+  m_Mass: 1
+  m_ParentAnchorPosition: {x: -0.000000014901161, y: -0.64000016, z: 0}
+  m_ParentAnchorRotation: {x: 0, y: 0, z: 0.7071068, w: 0.7071068}
+  m_AnchorPosition: {x: 0, y: 2, z: 0}
+  m_AnchorRotation: {x: 0, y: 0, z: 0.70710677, w: 0.70710677}
+  m_ComputeParentAnchor: 1
+  m_ArticulationJointType: 3
+  m_LinearX: 0
+  m_LinearY: 0
+  m_LinearZ: 0
+  m_Swing1: 2
+  m_Swing2: 2
+  m_Twist: 2
+  m_XDrive:
+    lowerLimit: 0
+    upperLimit: 0
+    stiffness: 0
+    damping: 0
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+  m_YDrive:
+    lowerLimit: 0
+    upperLimit: 0
+    stiffness: 0
+    damping: 0
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+  m_ZDrive:
+    lowerLimit: 0
+    upperLimit: 0
+    stiffness: 0
+    damping: 0
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+  m_LinearDamping: 0.05
+  m_AngularDamping: 0.05
+  m_JointFriction: 0.05
+  m_Immovable: 1
+--- !u!1 &953926811
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 953926812}
+  - component: {fileID: 953926815}
+  - component: {fileID: 953926814}
+  - component: {fileID: 953926813}
+  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 &953926812
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 953926811}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 2, z: 1}
+  m_Children: []
+  m_Father: {fileID: 858920505}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!136 &953926813
+CapsuleCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 953926811}
+  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 &953926814
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 953926811}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 10303, guid: 0000000000000000f000000000000000, type: 0}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
+  m_PreserveUVs: 0
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 1
+  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!33 &953926815
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 953926811}
+  m_Mesh: {fileID: 10208, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!1 &1757323892
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 1757323893}
+  - component: {fileID: 1757323896}
+  - component: {fileID: 1757323895}
+  - component: {fileID: 1757323894}
+  m_Layer: 0
+  m_Name: Capsule
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &1757323893
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1757323892}
+  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 2, z: 1}
+  m_Children: []
+  m_Father: {fileID: 270716408}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!136 &1757323894
+CapsuleCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1757323892}
+  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 &1757323895
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1757323892}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 10303, guid: 0000000000000000f000000000000000, type: 0}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
+  m_PreserveUVs: 0
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 1
+  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!33 &1757323896
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1757323892}
+  m_Mesh: {fileID: 10208, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!1 &1945244207
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 1945244211}
+  - component: {fileID: 1945244210}
+  - component: {fileID: 1945244209}
+  - component: {fileID: 1945244208}
+  m_Layer: 0
+  m_Name: Cube
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!65 &1945244208
+BoxCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1945244207}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 0
+  m_Enabled: 1
+  serializedVersion: 2
+  m_Size: {x: 1, y: 1, z: 1}
+  m_Center: {x: 0, y: 0, z: 0}
+--- !u!23 &1945244209
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1945244207}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 10303, guid: 0000000000000000f000000000000000, type: 0}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
+  m_PreserveUVs: 0
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 1
+  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!33 &1945244210
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1945244207}
+  m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!4 &1945244211
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1945244207}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: -3.31, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_RootOrder: 3
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}

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

+fileFormatVersion: 2
+guid: 7115f6ae17ff06bd99b4e7797185e2ad
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

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

+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!29 &1
+OcclusionCullingSettings:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_OcclusionBakeSettings:
+    smallestOccluder: 5
+    smallestHole: 0.25
+    backfaceThreshold: 100
+  m_SceneGUID: 00000000000000000000000000000000
+  m_OcclusionCullingData: {fileID: 0}
+--- !u!104 &2
+RenderSettings:
+  m_ObjectHideFlags: 0
+  serializedVersion: 9
+  m_Fog: 0
+  m_FogColor: {r: 0.5, g: 0.5, b: 0.5, a: 1}
+  m_FogMode: 3
+  m_FogDensity: 0.01
+  m_LinearFogStart: 0
+  m_LinearFogEnd: 300
+  m_AmbientSkyColor: {r: 0.212, g: 0.227, b: 0.259, a: 1}
+  m_AmbientEquatorColor: {r: 0.114, g: 0.125, b: 0.133, a: 1}
+  m_AmbientGroundColor: {r: 0.047, g: 0.043, b: 0.035, a: 1}
+  m_AmbientIntensity: 1
+  m_AmbientMode: 0
+  m_SubtractiveShadowColor: {r: 0.42, g: 0.478, b: 0.627, a: 1}
+  m_SkyboxMaterial: {fileID: 10304, guid: 0000000000000000f000000000000000, type: 0}
+  m_HaloStrength: 0.5
+  m_FlareStrength: 1
+  m_FlareFadeSpeed: 3
+  m_HaloTexture: {fileID: 0}
+  m_SpotCookie: {fileID: 10001, guid: 0000000000000000e000000000000000, type: 0}
+  m_DefaultReflectionMode: 0
+  m_DefaultReflectionResolution: 128
+  m_ReflectionBounces: 1
+  m_ReflectionIntensity: 1
+  m_CustomReflection: {fileID: 0}
+  m_Sun: {fileID: 0}
+  m_IndirectSpecularColor: {r: 0, g: 0, b: 0, a: 1}
+  m_UseRadianceAmbientProbe: 0
+--- !u!157 &3
+LightmapSettings:
+  m_ObjectHideFlags: 0
+  serializedVersion: 11
+  m_GIWorkflowMode: 1
+  m_GISettings:
+    serializedVersion: 2
+    m_BounceScale: 1
+    m_IndirectOutputScale: 1
+    m_AlbedoBoost: 1
+    m_EnvironmentLightingMode: 0
+    m_EnableBakedLightmaps: 1
+    m_EnableRealtimeLightmaps: 0
+  m_LightmapEditorSettings:
+    serializedVersion: 12
+    m_Resolution: 2
+    m_BakeResolution: 40
+    m_AtlasSize: 1024
+    m_AO: 0
+    m_AOMaxDistance: 1
+    m_CompAOExponent: 1
+    m_CompAOExponentDirect: 0
+    m_ExtractAmbientOcclusion: 0
+    m_Padding: 2
+    m_LightmapParameters: {fileID: 0}
+    m_LightmapsBakeMode: 1
+    m_TextureCompression: 1
+    m_FinalGather: 0
+    m_FinalGatherFiltering: 1
+    m_FinalGatherRayCount: 256
+    m_ReflectionCompression: 2
+    m_MixedBakeMode: 2
+    m_BakeBackend: 1
+    m_PVRSampling: 1
+    m_PVRDirectSampleCount: 32
+    m_PVRSampleCount: 512
+    m_PVRBounces: 2
+    m_PVREnvironmentSampleCount: 256
+    m_PVREnvironmentReferencePointCount: 2048
+    m_PVRFilteringMode: 1
+    m_PVRDenoiserTypeDirect: 1
+    m_PVRDenoiserTypeIndirect: 1
+    m_PVRDenoiserTypeAO: 1
+    m_PVRFilterTypeDirect: 0
+    m_PVRFilterTypeIndirect: 0
+    m_PVRFilterTypeAO: 0
+    m_PVREnvironmentMIS: 1
+    m_PVRCulling: 1
+    m_PVRFilteringGaussRadiusDirect: 1
+    m_PVRFilteringGaussRadiusIndirect: 5
+    m_PVRFilteringGaussRadiusAO: 2
+    m_PVRFilteringAtrousPositionSigmaDirect: 0.5
+    m_PVRFilteringAtrousPositionSigmaIndirect: 2
+    m_PVRFilteringAtrousPositionSigmaAO: 1
+    m_ExportTrainingData: 0
+    m_TrainingDataDestination: TrainingData
+    m_LightProbeSampleCountMultiplier: 4
+  m_LightingDataAsset: {fileID: 0}
+  m_UseShadowmask: 1
+--- !u!196 &4
+NavMeshSettings:
+  serializedVersion: 2
+  m_ObjectHideFlags: 0
+  m_BuildSettings:
+    serializedVersion: 2
+    agentTypeID: 0
+    agentRadius: 0.5
+    agentHeight: 2
+    agentSlope: 45
+    agentClimb: 0.4
+    ledgeDropHeight: 0
+    maxJumpAcrossDistance: 0
+    minRegionArea: 2
+    manualCellSize: 0
+    cellSize: 0.16666667
+    manualTileSize: 0
+    tileSize: 256
+    accuratePlacement: 0
+    debug:
+      m_Flags: 0
+  m_NavMeshData: {fileID: 0}
+--- !u!1 &62469051
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 62469053}
+  - component: {fileID: 62469052}
+  m_Layer: 0
+  m_Name: Directional Light
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!108 &62469052
+Light:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 62469051}
+  m_Enabled: 1
+  serializedVersion: 10
+  m_Type: 1
+  m_Shape: 0
+  m_Color: {r: 1, g: 0.95686275, b: 0.8392157, a: 1}
+  m_Intensity: 1
+  m_Range: 10
+  m_SpotAngle: 30
+  m_InnerSpotAngle: 21.80208
+  m_CookieSize: 10
+  m_Shadows:
+    m_Type: 2
+    m_Resolution: -1
+    m_CustomResolution: -1
+    m_Strength: 1
+    m_Bias: 0.05
+    m_NormalBias: 0.4
+    m_NearPlane: 0.2
+    m_CullingMatrixOverride:
+      e00: 1
+      e01: 0
+      e02: 0
+      e03: 0
+      e10: 0
+      e11: 1
+      e12: 0
+      e13: 0
+      e20: 0
+      e21: 0
+      e22: 1
+      e23: 0
+      e30: 0
+      e31: 0
+      e32: 0
+      e33: 1
+    m_UseCullingMatrixOverride: 0
+  m_Cookie: {fileID: 0}
+  m_DrawHalo: 0
+  m_Flare: {fileID: 0}
+  m_RenderMode: 0
+  m_CullingMask:
+    serializedVersion: 2
+    m_Bits: 4294967295
+  m_RenderingLayerMask: 1
+  m_Lightmapping: 4
+  m_LightShadowCasterMode: 0
+  m_AreaSize: {x: 1, y: 1}
+  m_BounceIntensity: 1
+  m_ColorTemperature: 6570
+  m_UseColorTemperature: 0
+  m_BoundingSphereOverride: {x: 0, y: 0, z: 0, w: 0}
+  m_UseBoundingSphereOverride: 0
+  m_ShadowRadius: 0
+  m_ShadowAngle: 0
+--- !u!4 &62469053
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 62469051}
+  m_LocalRotation: {x: 0.40821788, y: -0.23456968, z: 0.10938163, w: 0.8754261}
+  m_LocalPosition: {x: 0, y: 3, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_RootOrder: 1
+  m_LocalEulerAnglesHint: {x: 50, y: -30, z: 0}
+--- !u!1 &580794278
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 580794279}
+  - component: {fileID: 580794283}
+  - component: {fileID: 580794282}
+  - component: {fileID: 580794281}
+  - component: {fileID: 580794280}
+  m_Layer: 0
+  m_Name: Hand
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 0
+--- !u!4 &580794279
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 580794278}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 1.42, z: 0}
+  m_LocalScale: {x: 2, y: 0.66, z: 2}
+  m_Children: []
+  m_Father: {fileID: 849939203}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!171741748 &580794280
+ArticulationBody:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 580794278}
+  m_Enabled: 1
+  m_Mass: 1
+  m_ParentAnchorPosition: {x: -0.00000017493065, y: 1.4200003, z: 0.00000047683716}
+  m_ParentAnchorRotation: {x: 0, y: 0, z: 0.70710677, w: 0.70710677}
+  m_AnchorPosition: {x: 0, y: 0, z: 0}
+  m_AnchorRotation: {x: 0, y: 0, z: 0.70710677, w: 0.70710677}
+  m_ComputeParentAnchor: 1
+  m_ArticulationJointType: 0
+  m_LinearX: 0
+  m_LinearY: 0
+  m_LinearZ: 0
+  m_Swing1: 0
+  m_Swing2: 0
+  m_Twist: 0
+  m_XDrive:
+    lowerLimit: 0
+    upperLimit: 0
+    stiffness: 0
+    damping: 0
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+  m_YDrive:
+    lowerLimit: 0
+    upperLimit: 0
+    stiffness: 0
+    damping: 0
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+  m_ZDrive:
+    lowerLimit: 0
+    upperLimit: 0
+    stiffness: 0
+    damping: 0
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+  m_LinearDamping: 0.05
+  m_AngularDamping: 0.05
+  m_JointFriction: 0.05
+  m_Immovable: 0
+--- !u!23 &580794281
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 580794278}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
+  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_ReceiveGI: 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!135 &580794282
+SphereCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 580794278}
+  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!33 &580794283
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 580794278}
+  m_Mesh: {fileID: 10207, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!1 &849939202
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 849939203}
+  - component: {fileID: 849939207}
+  - component: {fileID: 849939206}
+  - component: {fileID: 849939205}
+  - component: {fileID: 849939204}
+  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 &849939203
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 849939202}
+  m_LocalRotation: {x: -0.6601143, y: 0.000000004190951, z: 0.0000000018626449, w: -0.7511652}
+  m_LocalPosition: {x: 0.0000269413, y: 2.5886054, z: -0.6561351}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children:
+  - {fileID: 580794279}
+  m_Father: {fileID: 1152084853}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 82.617004, y: 0, z: 0}
+--- !u!171741748 &849939204
+ArticulationBody:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 849939202}
+  m_Enabled: 1
+  m_Mass: 1
+  m_ParentAnchorPosition: {x: 0.000027179718, y: 2.4511123, z: -1.7172642}
+  m_ParentAnchorRotation: {x: -0.46677127, y: 0.46677127, z: -0.53115404, w: -0.53115404}
+  m_AnchorPosition: {x: 0, y: -1.07, z: 0}
+  m_AnchorRotation: {x: 0, y: 0, z: 0.70710677, w: 0.70710677}
+  m_ComputeParentAnchor: 1
+  m_ArticulationJointType: 3
+  m_LinearX: 0
+  m_LinearY: 0
+  m_LinearZ: 0
+  m_Swing1: 2
+  m_Swing2: 0
+  m_Twist: 2
+  m_XDrive:
+    lowerLimit: -135
+    upperLimit: 135
+    stiffness: 0
+    damping: 1
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+  m_YDrive:
+    lowerLimit: 0
+    upperLimit: 0
+    stiffness: 0
+    damping: 0
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+  m_ZDrive:
+    lowerLimit: -135
+    upperLimit: 135
+    stiffness: 0
+    damping: 1
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+  m_LinearDamping: 0.05
+  m_AngularDamping: 0.05
+  m_JointFriction: 0.05
+  m_Immovable: 0
+--- !u!23 &849939205
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 849939202}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
+  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_ReceiveGI: 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!136 &849939206
+CapsuleCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 849939202}
+  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!33 &849939207
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 849939202}
+  m_Mesh: {fileID: 10208, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!1 &1152084852
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 1152084853}
+  - component: {fileID: 1152084857}
+  - component: {fileID: 1152084856}
+  - component: {fileID: 1152084855}
+  - component: {fileID: 1152084854}
+  m_Layer: 0
+  m_Name: Capsule
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &1152084853
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1152084852}
+  m_LocalRotation: {x: 1, y: -0, z: -0, w: 0}
+  m_LocalPosition: {x: 0, y: -4, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children:
+  - {fileID: 849939203}
+  m_Father: {fileID: 1411436042}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 180, y: 0, z: 0}
+--- !u!171741748 &1152084854
+ArticulationBody:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1152084852}
+  m_Enabled: 1
+  m_Mass: 1
+  m_ParentAnchorPosition: {x: -0.00000004004687, y: -0.0899998, z: -0.00000017136335}
+  m_ParentAnchorRotation: {x: 0.70710677, y: -0.70710677, z: 0, w: 0}
+  m_AnchorPosition: {x: 0, y: -3.91, z: 0}
+  m_AnchorRotation: {x: 0, y: 0, z: 0.70710677, w: 0.70710677}
+  m_ComputeParentAnchor: 1
+  m_ArticulationJointType: 3
+  m_LinearX: 0
+  m_LinearY: 0
+  m_LinearZ: 0
+  m_Swing1: 2
+  m_Swing2: 2
+  m_Twist: 2
+  m_XDrive:
+    lowerLimit: 0
+    upperLimit: 0
+    stiffness: 0
+    damping: 0
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+  m_YDrive:
+    lowerLimit: 0
+    upperLimit: 0
+    stiffness: 0
+    damping: 0
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+  m_ZDrive:
+    lowerLimit: 0
+    upperLimit: 0
+    stiffness: 0
+    damping: 0
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+  m_LinearDamping: 0.05
+  m_AngularDamping: 0.05
+  m_JointFriction: 0.05
+  m_Immovable: 0
+--- !u!23 &1152084855
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1152084852}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
+  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_ReceiveGI: 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!136 &1152084856
+CapsuleCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1152084852}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 0
+  m_Enabled: 1
+  m_Radius: 0.5
+  m_Height: 3
+  m_Direction: 1
+  m_Center: {x: 0, y: 0, z: 0}
+--- !u!33 &1152084857
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1152084852}
+  m_Mesh: {fileID: 10208, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!1 &1361682104
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 1361682107}
+  - component: {fileID: 1361682106}
+  - component: {fileID: 1361682105}
+  m_Layer: 0
+  m_Name: Main Camera
+  m_TagString: MainCamera
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!81 &1361682105
+AudioListener:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1361682104}
+  m_Enabled: 1
+--- !u!20 &1361682106
+Camera:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1361682104}
+  m_Enabled: 1
+  serializedVersion: 2
+  m_ClearFlags: 1
+  m_BackGroundColor: {r: 0.19215687, g: 0.3019608, b: 0.4745098, a: 0}
+  m_projectionMatrixMode: 1
+  m_GateFitMode: 2
+  m_FOVAxisMode: 0
+  m_SensorSize: {x: 36, y: 24}
+  m_LensShift: {x: 0, y: 0}
+  m_FocalLength: 50
+  m_NormalizedViewPortRect:
+    serializedVersion: 2
+    x: 0
+    y: 0
+    width: 1
+    height: 1
+  near clip plane: 0.3
+  far clip plane: 1000
+  field of view: 60
+  orthographic: 0
+  orthographic size: 5
+  m_Depth: -1
+  m_CullingMask:
+    serializedVersion: 2
+    m_Bits: 4294967295
+  m_RenderingPath: -1
+  m_TargetTexture: {fileID: 0}
+  m_TargetDisplay: 0
+  m_TargetEye: 3
+  m_HDR: 1
+  m_AllowMSAA: 1
+  m_AllowDynamicResolution: 0
+  m_ForceIntoRT: 0
+  m_OcclusionCulling: 1
+  m_StereoConvergence: 10
+  m_StereoSeparation: 0.022
+--- !u!4 &1361682107
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1361682104}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 1, z: -10}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1 &1411436037
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 1411436042}
+  - component: {fileID: 1411436041}
+  - component: {fileID: 1411436040}
+  - component: {fileID: 1411436039}
+  - component: {fileID: 1411436038}
+  m_Layer: 0
+  m_Name: Sphere
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!171741748 &1411436038
+ArticulationBody:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1411436037}
+  m_Enabled: 1
+  m_Mass: 1
+  m_ParentAnchorPosition: {x: 0, y: 0, z: 0}
+  m_ParentAnchorRotation: {x: 0, y: 0, z: 0.7071068, w: 0.7071068}
+  m_AnchorPosition: {x: 0, y: 0, z: 0}
+  m_AnchorRotation: {x: 0, y: 0, z: 0.7071068, w: 0.7071068}
+  m_ComputeParentAnchor: 1
+  m_ArticulationJointType: 0
+  m_LinearX: 0
+  m_LinearY: 0
+  m_LinearZ: 0
+  m_Swing1: 0
+  m_Swing2: 0
+  m_Twist: 0
+  m_XDrive:
+    lowerLimit: 0
+    upperLimit: 0
+    stiffness: 0
+    damping: 0
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+  m_YDrive:
+    lowerLimit: 0
+    upperLimit: 0
+    stiffness: 0
+    damping: 0
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+  m_ZDrive:
+    lowerLimit: 0
+    upperLimit: 0
+    stiffness: 0
+    damping: 0
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+  m_LinearDamping: 0.05
+  m_AngularDamping: 0.05
+  m_JointFriction: 0.05
+  m_Immovable: 1
+--- !u!23 &1411436039
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1411436037}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
+  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_ReceiveGI: 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!135 &1411436040
+SphereCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1411436037}
+  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!33 &1411436041
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1411436037}
+  m_Mesh: {fileID: 10207, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!4 &1411436042
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1411436037}
+  m_LocalRotation: {x: -0.024145372, y: -0.9154651, z: -0.39781055, w: 0.055564772}
+  m_LocalPosition: {x: -18.129875, y: -5.507981, z: -6.6263056}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children:
+  - {fileID: 1152084853}
+  m_Father: {fileID: 0}
+  m_RootOrder: 2
+  m_LocalEulerAnglesHint: {x: -46.974003, y: 186.94699, z: 0}

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

+fileFormatVersion: 2
+guid: ff7b14fb14a982be9adc96b0ba886c1c
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

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

+fileFormatVersion: 2
+guid: 75bd70b1648a4d3e79926f2bff292b1f
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

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

+using UnityEngine;
+using MLAgents;
+
+public class ArticulatedReacherAgent : Agent
+{
+    public GameObject pendulumA;
+    public GameObject pendulumB;
+    public GameObject hand;
+    public GameObject goal;
+    private ReacherAcademy m_MyAcademy;
+    float m_GoalDegree;
+    private ArticulationBody m_RbA;
+    private ArticulationBody m_RbB;
+    // speed of the goal zone around the arm (in radians)
+    private float m_GoalSpeed;
+    // radius of the goal zone
+    private float m_GoalSize;
+    // Magnitude of sinusoidal (cosine) deviation of the goal along the vertical dimension
+    private float m_Deviation;
+    // Frequency of the cosine deviation of the goal along the vertical dimension
+    private float m_DeviationFreq;
+
+    /// <summary>
+    /// Collect the rigidbodies of the reacher in order to resue them for
+    /// observations and actions.
+    /// </summary>
+    public override void InitializeAgent()
+    {
+        m_RbA = pendulumA.GetComponent<ArticulationBody>();
+        m_RbB = pendulumB.GetComponent<ArticulationBody>();
+        m_MyAcademy = GameObject.Find("Academy").GetComponent<ReacherAcademy>();
+
+        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()
+    {
+        AddVectorObs(pendulumA.transform.localPosition);
+        AddVectorObs(pendulumA.transform.rotation);
+        AddVectorObs(m_RbA.angularVelocity);
+        AddVectorObs(m_RbA.velocity);
+
+        AddVectorObs(pendulumB.transform.localPosition);
+        AddVectorObs(pendulumB.transform.rotation);
+        AddVectorObs(m_RbB.angularVelocity);
+        AddVectorObs(m_RbB.velocity);
+
+        AddVectorObs(goal.transform.localPosition);
+        AddVectorObs(hand.transform.localPosition);
+
+        AddVectorObs(m_GoalSpeed);
+    }
+
+    /// <summary>
+    /// The agent's four actions correspond to torques on each of the two joints.
+    /// </summary>
+    public override void AgentAction(float[] vectorAction, string textAction)
+    {
+        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 AgentReset()
+    {
+        //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);
+        
+        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_MyAcademy.resetParameters["goal_size"];
+        m_GoalSpeed = Random.Range(-1f, 1f) * m_MyAcademy.resetParameters["goal_speed"];
+        m_Deviation = m_MyAcademy.resetParameters["deviation"];
+        m_DeviationFreq = m_MyAcademy.resetParameters["deviation_freq"];
+    }
+}

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

+fileFormatVersion: 2
+guid: 6143635a8af8679a8a563a8820c9c9ee
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: