Fixing agent reset, using Teleport api call for articulation. Velocities/angular velocities of articulations can't be reset yet.

UnitySDK/Assets/ML-Agents/Examples/Crawler/Scenes/ArticulatedCrawlerManualControl.unity

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

     {
         if (m_DirToTarget != Vector3.zero)
         {
-            transform.rotation = Quaternion.LookRotation(m_DirToTarget);
+            body.transform.rotation = Quaternion.LookRotation(m_DirToTarget);
-        transform.Rotate(Vector3.up, Random.Range(0.0f, 360.0f));
+        body.transform.Rotate(Vector3.up, Random.Range(0.0f, 360.0f));
 
         foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
         {

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

         /// </summary>
         public void Reset(ArticulationBodyPart bp)
         {
-            bp.arb.transform.position = bp.startingPos;
-            bp.arb.transform.rotation = bp.startingRot;
+            // Can't assign transforms for articulation bodies: transform changes are ignored, simulations goes on.
+            // No way to reset velocities for articulation bodies now
+            if (bp.arb.isRoot)
+                bp.arb.TeleportRoot(bp.startingPos, bp.startingRot);
+            //bp.arb.transform.position = bp.startingPos;
+            //bp.arb.transform.rotation = bp.startingRot;
             
             // Can't assigned articulation body velocitys/angularVelocities
             //bp.arb.velocity = Vector3.zero;