copy sensor from robot branch, fix space

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Project/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherGoal.cs

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

Project/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAgent.cs

 using Unity.MLAgents;
 using Unity.MLAgents.Sensors;
 
-public class ReacherAgent : Agent
+namespace Unity.MLAgentsExamples
-    public GameObject pendulumA;
-    public GameObject pendulumB;
-    public GameObject hand;
-    public GameObject goal;
-    float m_GoalDegree;
-    Rigidbody m_RbA;
-    Rigidbody m_RbB;
-    // speed of the goal zone around the arm (in radians)
-    float m_GoalSpeed;
-    // radius of the goal zone
-    float m_GoalSize;
-    // Magnitude of sinusoidal (cosine) deviation of the goal along the vertical dimension
-    float m_Deviation;
-    // Frequency of the cosine deviation of the goal along the vertical dimension
-    float m_DeviationFreq;
+
-    EnvironmentParameters m_ResetParams;
-    /// <summary>
-    /// Collect the rigidbodies of the reacher in order to resue them for
-    /// observations and actions.
-    /// </summary>
-    public override void Initialize()
+    public class ReacherAgent : Agent
-        m_RbA = pendulumA.GetComponent<Rigidbody>();
-        m_RbB = pendulumB.GetComponent<Rigidbody>();
+        public GameObject pendulumA;
+        public GameObject pendulumB;
+        public GameObject hand;
+        public GameObject goal;
+
+        float m_GoalDegree;
+        private Rigidbody m_RbA;
+        private Rigidbody 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;
+
+        EnvironmentParameters m_ResetParams;
+
+        /// <summary>
+        /// Collect the rigidbodies of the reacher in order to resue them for
+        /// observations and actions.
+        /// </summary>
+        public override void Initialize()
+        {
+            m_RbA = pendulumA.GetComponent<Rigidbody>();
+            m_RbB = pendulumB.GetComponent<Rigidbody>();
-        m_ResetParams = Academy.Instance.EnvironmentParameters;
+            m_ResetParams = Academy.Instance.EnvironmentParameters;
-        SetResetParameters();
-    }
+            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(VectorSensor sensor)
-    {
-        sensor.AddObservation(pendulumA.transform.localPosition);
-        sensor.AddObservation(pendulumA.transform.rotation);
-        sensor.AddObservation(m_RbA.angularVelocity);
-        sensor.AddObservation(m_RbA.velocity);
+        /// <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(VectorSensor vectorSensor)
+        {
+            vectorSensor.AddObservation(pendulumA.transform.localPosition);
+            vectorSensor.AddObservation(pendulumA.transform.rotation);
+            vectorSensor.AddObservation(m_RbA.angularVelocity);
+            vectorSensor.AddObservation(m_RbA.velocity);
-        sensor.AddObservation(pendulumB.transform.localPosition);
-        sensor.AddObservation(pendulumB.transform.rotation);
-        sensor.AddObservation(m_RbB.angularVelocity);
-        sensor.AddObservation(m_RbB.velocity);
+            vectorSensor.AddObservation(pendulumB.transform.localPosition);
+            vectorSensor.AddObservation(pendulumB.transform.rotation);
+            vectorSensor.AddObservation(m_RbB.angularVelocity);
+            vectorSensor.AddObservation(m_RbB.velocity);
-        sensor.AddObservation(goal.transform.localPosition);
-        sensor.AddObservation(hand.transform.localPosition);
+            vectorSensor.AddObservation(goal.transform.localPosition);
+            vectorSensor.AddObservation(hand.transform.localPosition);
+
+            vectorSensor.AddObservation(m_GoalSpeed);
+        }
-        sensor.AddObservation(m_GoalSpeed);
-    }
+        /// <summary>
+        /// The agent's four actions correspond to torques on each of the two joints.
+        /// </summary>
+        public override void OnActionReceived(float[] vectorAction)
+        {
+            m_GoalDegree += m_GoalSpeed;
+            UpdateGoalPosition();
-    /// <summary>
-    /// The agent's four actions correspond to torques on each of the two joints.
-    /// </summary>
-    public override void OnActionReceived(float[] vectorAction)
-    {
-        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));
-        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));
+        }
-        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>
-    /// 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 OnEpisodeBegin()
+        {
+            pendulumA.transform.position = new Vector3(0f, -4f, 0f) + transform.position;
+            pendulumA.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
+            m_RbA.velocity = Vector3.zero;
+            m_RbA.angularVelocity = Vector3.zero;
-    /// <summary>
-    /// Resets the position and velocity of the agent and the goal.
-    /// </summary>
-    public override void OnEpisodeBegin()
-    {
-        pendulumA.transform.position = new Vector3(0f, -4f, 0f) + transform.position;
-        pendulumA.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
-        m_RbA.velocity = Vector3.zero;
-        m_RbA.angularVelocity = Vector3.zero;
+            pendulumB.transform.position = new Vector3(0f, -10f, 0f) + transform.position;
+            pendulumB.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
+            m_RbB.velocity = Vector3.zero;
+            m_RbB.angularVelocity = Vector3.zero;
-        pendulumB.transform.position = new Vector3(0f, -10f, 0f) + transform.position;
-        pendulumB.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
-        m_RbB.velocity = Vector3.zero;
-        m_RbB.angularVelocity = Vector3.zero;
+            m_GoalDegree = Random.Range(0, 360);
+            UpdateGoalPosition();
-        m_GoalDegree = Random.Range(0, 360);
-        UpdateGoalPosition();
+            SetResetParameters();
-        SetResetParameters();
+            goal.transform.localScale = new Vector3(m_GoalSize, m_GoalSize, m_GoalSize);
+        }
-        goal.transform.localScale = new Vector3(m_GoalSize, m_GoalSize, m_GoalSize);
-    }
+        public void SetResetParameters()
+        {
+            m_GoalSize = m_ResetParams.GetWithDefault("goal_size", 5);
+            m_GoalSpeed = Random.Range(-1f, 1f) * m_ResetParams.GetWithDefault("goal_speed", 1);
+            m_Deviation = m_ResetParams.GetWithDefault("deviation", 0);
+            m_DeviationFreq = m_ResetParams.GetWithDefault("deviation_freq", 0);
+        }
-    public void SetResetParameters()
-    {
-        m_GoalSize = m_ResetParams.GetWithDefault("goal_size", 5);
-        m_GoalSpeed = Random.Range(-1f, 1f) * m_ResetParams.GetWithDefault("goal_speed", 1);
-        m_Deviation = m_ResetParams.GetWithDefault("deviation", 0);
-        m_DeviationFreq = m_ResetParams.GetWithDefault("deviation_freq", 0);
+        public override void Heuristic(float[] actionsOut)
+        {
+            for (var i = 0; i < actionsOut.Length; i++)
+            {
+                actionsOut[i] = Random.Range(-1f, 1f);
+            }
+        }
-}
+}

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Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs

 using UnityEngine;
 using Unity.MLAgents;
-using Unity.MLAgentsExamples;
-[RequireComponent(typeof(JointDriveController))] // Required to set joint forces
-public class CrawlerAgent : Agent
+namespace Unity.MLAgentsExamples
-    [Header("Target To Walk Towards")]
-    [Space(10)]
-    public Transform target;
-    public Transform ground;
-    public bool detectTargets;
-    public bool targetIsStatic;
-    public bool respawnTargetWhenTouched;
-    public float targetSpawnRadius;
+    [RequireComponent(typeof(JointDriveController))] // Required to set joint forces
+    public class CrawlerAgent : Agent
+    {
+        [Header("Target To Walk Towards")]
+        [Space(10)]
+        public Transform target;
-    [Header("Body Parts")] [Space(10)] public Transform body;
-    public Transform leg0Upper;
-    public Transform leg0Lower;
-    public Transform leg1Upper;
-    public Transform leg1Lower;
-    public Transform leg2Upper;
-    public Transform leg2Lower;
-    public Transform leg3Upper;
-    public Transform leg3Lower;
+        public Transform ground;
+        public bool detectTargets;
+        public bool targetIsStatic = false;
+        public bool respawnTargetWhenTouched;
+        public float targetSpawnRadius;
-    [Header("Joint Settings")] [Space(10)] JointDriveController m_JdController;
-    Vector3 m_DirToTarget;
-    float m_MovingTowardsDot;
-    float m_FacingDot;
+        [Header("Body Parts")]
+        [Space(10)]
+        public Transform body;
+        public Transform leg0Upper;
+        public Transform leg0Lower;
+        public Transform leg1Upper;
+        public Transform leg1Lower;
+        public Transform leg2Upper;
+        public Transform leg2Lower;
+        public Transform leg3Upper;
+        public Transform leg3Lower;
-    [Header("Reward Functions To Use")]
-    [Space(10)]
-    public bool rewardMovingTowardsTarget; // Agent should move towards target
+        [Header("Joint Settings")]
+        [Space(10)]
+        JointDriveController m_JdController;
+        Vector3 m_DirToTarget;
+        float m_MovingTowardsDot;
+        float m_FacingDot;
-    public bool rewardFacingTarget; // Agent should face the target
-    public bool rewardUseTimePenalty; // Hurry up
+        [Header("Reward Functions To Use")]
+        [Space(10)]
+        public bool rewardMovingTowardsTarget; // Agent should move towards target
-    [Header("Foot Grounded Visualization")]
-    [Space(10)]
-    public bool useFootGroundedVisualization;
+        public bool rewardFacingTarget; // Agent should face the target
+        public bool rewardUseTimePenalty; // Hurry up
-    public MeshRenderer foot0;
-    public MeshRenderer foot1;
-    public MeshRenderer foot2;
-    public MeshRenderer foot3;
-    public Material groundedMaterial;
-    public Material unGroundedMaterial;
+        [Header("Foot Grounded Visualization")]
+        [Space(10)]
+        public bool useFootGroundedVisualization;
+
+        public MeshRenderer foot0;
+        public MeshRenderer foot1;
+        public MeshRenderer foot2;
+        public MeshRenderer foot3;
+        public Material groundedMaterial;
+        public Material unGroundedMaterial;
+
+        Quaternion m_LookRotation;
+        Matrix4x4 m_TargetDirMatrix;
-    Quaternion m_LookRotation;
-    Matrix4x4 m_TargetDirMatrix;
+        public override void Initialize()
+        {
+            m_JdController = GetComponent<JointDriveController>();
+            m_DirToTarget = target.position - body.position;
-    public override void Initialize()
-    {
-        m_JdController = GetComponent<JointDriveController>();
-        m_DirToTarget = target.position - body.position;
+            //Setup each body part
+            m_JdController.SetupBodyPart(body);
+            m_JdController.SetupBodyPart(leg0Upper);
+            m_JdController.SetupBodyPart(leg0Lower);
+            m_JdController.SetupBodyPart(leg1Upper);
+            m_JdController.SetupBodyPart(leg1Lower);
+            m_JdController.SetupBodyPart(leg2Upper);
+            m_JdController.SetupBodyPart(leg2Lower);
+            m_JdController.SetupBodyPart(leg3Upper);
+            m_JdController.SetupBodyPart(leg3Lower);
+        }
-        //Setup each body part
-        m_JdController.SetupBodyPart(body);
-        m_JdController.SetupBodyPart(leg0Upper);
-        m_JdController.SetupBodyPart(leg0Lower);
-        m_JdController.SetupBodyPart(leg1Upper);
-        m_JdController.SetupBodyPart(leg1Lower);
-        m_JdController.SetupBodyPart(leg2Upper);
-        m_JdController.SetupBodyPart(leg2Lower);
-        m_JdController.SetupBodyPart(leg3Upper);
-        m_JdController.SetupBodyPart(leg3Lower);
-    }
+        /// <summary>
+        /// Add relevant information on each body part to observations.
+        /// </summary>
+        public void CollectObservationBodyPart(VectorSensor vectorSensor, BodyPart bp)
+        {
+            var rb = bp.rb;
+            vectorSensor.AddObservation(bp.groundContact.touchingGround ? 1 : 0); // Whether the bp touching the ground
-    /// <summary>
-    /// Add relevant information on each body part to observations.
-    /// </summary>
-    public void CollectObservationBodyPart(BodyPart bp, VectorSensor sensor)
-    {
-        var rb = bp.rb;
-        sensor.AddObservation(bp.groundContact.touchingGround ? 1 : 0); // Whether the bp touching the ground
+            var velocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.velocity);
+            vectorSensor.AddObservation(velocityRelativeToLookRotationToTarget);
-        var velocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.velocity);
-        sensor.AddObservation(velocityRelativeToLookRotationToTarget);
+            var angularVelocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.angularVelocity);
+            vectorSensor.AddObservation(angularVelocityRelativeToLookRotationToTarget);
-        var angularVelocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.angularVelocity);
-        sensor.AddObservation(angularVelocityRelativeToLookRotationToTarget);
+            if (bp.rb.transform != body)
+            {
+                var localPosRelToBody = body.InverseTransformPoint(rb.position);
+                vectorSensor.AddObservation(localPosRelToBody);
+                vectorSensor.AddObservation(bp.currentXNormalizedRot); // Current x rot
+                vectorSensor.AddObservation(bp.currentYNormalizedRot); // Current y rot
+                vectorSensor.AddObservation(bp.currentZNormalizedRot); // Current z rot
+                vectorSensor.AddObservation(bp.currentStrength / m_JdController.maxJointForceLimit);
+            }
+        }
-        if (bp.rb.transform != body)
+        public override void CollectObservations(VectorSensor vectorSensor)
-            var localPosRelToBody = body.InverseTransformPoint(rb.position);
-            sensor.AddObservation(localPosRelToBody);
-            sensor.AddObservation(bp.currentXNormalizedRot); // Current x rot
-            sensor.AddObservation(bp.currentYNormalizedRot); // Current y rot
-            sensor.AddObservation(bp.currentZNormalizedRot); // Current z rot
-            sensor.AddObservation(bp.currentStrength / m_JdController.maxJointForceLimit);
-        }
-    }
+            m_JdController.GetCurrentJointForces();
-    public override void CollectObservations(VectorSensor sensor)
-    {
-        m_JdController.GetCurrentJointForces();
+            // Update pos to target
+            m_DirToTarget = target.position - body.position;
+            m_LookRotation = Quaternion.LookRotation(m_DirToTarget);
+            m_TargetDirMatrix = Matrix4x4.TRS(Vector3.zero, m_LookRotation, Vector3.one);
-        // Update pos to target
-        m_DirToTarget = target.position - body.position;
-        m_LookRotation = Quaternion.LookRotation(m_DirToTarget);
-        m_TargetDirMatrix = Matrix4x4.TRS(Vector3.zero, m_LookRotation, Vector3.one);
+            RaycastHit hit;
+            if (Physics.Raycast(body.position, Vector3.down, out hit, 10.0f))
+            {
+                vectorSensor.AddObservation(hit.distance);
+            }
+            else
+                vectorSensor.AddObservation(10.0f);
-        RaycastHit hit;
-        if (Physics.Raycast(body.position, Vector3.down, out hit, 10.0f))
-        {
-            sensor.AddObservation(hit.distance);
-        }
-        else
-            sensor.AddObservation(10.0f);
+            // Forward & up to help with orientation
+            var bodyForwardRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(body.forward);
+            vectorSensor.AddObservation(bodyForwardRelativeToLookRotationToTarget);
-        // Forward & up to help with orientation
-        var bodyForwardRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(body.forward);
-        sensor.AddObservation(bodyForwardRelativeToLookRotationToTarget);
+            var bodyUpRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(body.up);
+            vectorSensor.AddObservation(bodyUpRelativeToLookRotationToTarget);
-        var bodyUpRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(body.up);
-        sensor.AddObservation(bodyUpRelativeToLookRotationToTarget);
+            foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+            {
+                CollectObservationBodyPart(vectorSensor, bodyPart);
+            }
+        }
-        foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+        /// <summary>
+        /// Agent touched the target
+        /// </summary>
+        public void TouchedTarget()
-            CollectObservationBodyPart(bodyPart, sensor);
+            AddReward(1f);
+            if (respawnTargetWhenTouched)
+            {
+                GetRandomTargetPos();
+            }
-    }
-    /// <summary>
-    /// Agent touched the target
-    /// </summary>
-    public void TouchedTarget()
-    {
-        AddReward(1f);
-        if (respawnTargetWhenTouched)
+        /// <summary>
+        /// Moves target to a random position within specified radius.
+        /// </summary>
+        public void GetRandomTargetPos()
-            GetRandomTargetPos();
+            var newTargetPos = Random.insideUnitSphere * targetSpawnRadius;
+            newTargetPos.y = 5;
+            target.position = newTargetPos + ground.position;
-    }
-    /// <summary>
-    /// Moves target to a random position within specified radius.
-    /// </summary>
-    public void GetRandomTargetPos()
-    {
-        var newTargetPos = Random.insideUnitSphere * targetSpawnRadius;
-        newTargetPos.y = 5;
-        target.position = newTargetPos + ground.position;
-    }
+        public override void OnActionReceived(float[] vectorAction)
+        {
-    public override void OnActionReceived(float[] vectorAction)
-    {
-        // The dictionary with all the body parts in it are in the jdController
-        var bpDict = m_JdController.bodyPartsDict;
+            // The dictionary with all the body parts in it are in the jdController
+            var bpDict = m_JdController.bodyPartsDict;
+
+            var i = -1;
-        var i = -1;
-        // Pick a new target joint rotation
-        bpDict[leg0Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
-        bpDict[leg1Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
-        bpDict[leg2Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
-        bpDict[leg3Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
-        bpDict[leg0Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
-        bpDict[leg1Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
-        bpDict[leg2Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
-        bpDict[leg3Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+            // Pick a new target joint rotation
+            bpDict[leg0Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+            bpDict[leg1Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+            bpDict[leg2Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+            bpDict[leg3Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+            bpDict[leg0Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+            bpDict[leg1Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+            bpDict[leg2Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+            bpDict[leg3Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
-        // Update joint strength
-        bpDict[leg0Upper].SetJointStrength(vectorAction[++i]);
-        bpDict[leg1Upper].SetJointStrength(vectorAction[++i]);
-        bpDict[leg2Upper].SetJointStrength(vectorAction[++i]);
-        bpDict[leg3Upper].SetJointStrength(vectorAction[++i]);
-        bpDict[leg0Lower].SetJointStrength(vectorAction[++i]);
-        bpDict[leg1Lower].SetJointStrength(vectorAction[++i]);
-        bpDict[leg2Lower].SetJointStrength(vectorAction[++i]);
-        bpDict[leg3Lower].SetJointStrength(vectorAction[++i]);
-    }
+            // Update joint strength
+            bpDict[leg0Upper].SetJointStrength(vectorAction[++i]);
+            bpDict[leg1Upper].SetJointStrength(vectorAction[++i]);
+            bpDict[leg2Upper].SetJointStrength(vectorAction[++i]);
+            bpDict[leg3Upper].SetJointStrength(vectorAction[++i]);
+            bpDict[leg0Lower].SetJointStrength(vectorAction[++i]);
+            bpDict[leg1Lower].SetJointStrength(vectorAction[++i]);
+            bpDict[leg2Lower].SetJointStrength(vectorAction[++i]);
+            bpDict[leg3Lower].SetJointStrength(vectorAction[++i]);
+        }
-    void FixedUpdate()
-    {
-        if (detectTargets)
+        void FixedUpdate()
-            foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+            if (detectTargets)
-                if (bodyPart.targetContact && bodyPart.targetContact.touchingTarget)
+                foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
-                    TouchedTarget();
+                    if (bodyPart.targetContact
+                        // && !IsDone() - TODO copied from old code
+                        && bodyPart.targetContact.touchingTarget)
+                    {
+                        TouchedTarget();
+                    }
-        }
-        // If enabled the feet will light up green when the foot is grounded.
-        // This is just a visualization and isn't necessary for function
-        if (useFootGroundedVisualization)
-        {
-            foot0.material = m_JdController.bodyPartsDict[leg0Lower].groundContact.touchingGround
-                ? groundedMaterial
-                : unGroundedMaterial;
-            foot1.material = m_JdController.bodyPartsDict[leg1Lower].groundContact.touchingGround
-                ? groundedMaterial
-                : unGroundedMaterial;
-            foot2.material = m_JdController.bodyPartsDict[leg2Lower].groundContact.touchingGround
-                ? groundedMaterial
-                : unGroundedMaterial;
-            foot3.material = m_JdController.bodyPartsDict[leg3Lower].groundContact.touchingGround
-                ? groundedMaterial
-                : unGroundedMaterial;
+            // If enabled the feet will light up green when the foot is grounded.
+            // This is just a visualization and isn't necessary for function
+            if (useFootGroundedVisualization)
+            {
+                foot0.material = m_JdController.bodyPartsDict[leg0Lower].groundContact.touchingGround
+                    ? groundedMaterial
+                    : unGroundedMaterial;
+                foot1.material = m_JdController.bodyPartsDict[leg1Lower].groundContact.touchingGround
+                    ? groundedMaterial
+                    : unGroundedMaterial;
+                foot2.material = m_JdController.bodyPartsDict[leg2Lower].groundContact.touchingGround
+                    ? groundedMaterial
+                    : unGroundedMaterial;
+                foot3.material = m_JdController.bodyPartsDict[leg3Lower].groundContact.touchingGround
+                    ? groundedMaterial
+                    : unGroundedMaterial;
+            }
+
+            // Set reward for this step according to mixture of the following elements.
+            if (rewardMovingTowardsTarget)
+            {
+                RewardFunctionMovingTowards();
+            }
+
+            if (rewardFacingTarget)
+            {
+                RewardFunctionFacingTarget();
+            }
+
+            if (rewardUseTimePenalty)
+            {
+                RewardFunctionTimePenalty();
+            }
-        // Set reward for this step according to mixture of the following elements.
-        if (rewardMovingTowardsTarget)
+        /// <summary>
+        /// Reward moving towards target & Penalize moving away from target.
+        /// </summary>
+        void RewardFunctionMovingTowards()
-            RewardFunctionMovingTowards();
+            m_MovingTowardsDot = Vector3.Dot(m_JdController.bodyPartsDict[body].rb.velocity, m_DirToTarget.normalized);
+            AddReward(0.03f * m_MovingTowardsDot);
-        if (rewardFacingTarget)
+        /// <summary>
+        /// Reward facing target & Penalize facing away from target
+        /// </summary>
+        void RewardFunctionFacingTarget()
-            RewardFunctionFacingTarget();
+            m_FacingDot = Vector3.Dot(m_DirToTarget.normalized, body.forward);
+            AddReward(0.01f * m_FacingDot);
-        if (rewardUseTimePenalty)
+        /// <summary>
+        /// Existential penalty for time-contrained tasks.
+        /// </summary>
+        void RewardFunctionTimePenalty()
-            RewardFunctionTimePenalty();
+            AddReward(-0.001f);
-    }
-    /// <summary>
-    /// Reward moving towards target & Penalize moving away from target.
-    /// </summary>
-    void RewardFunctionMovingTowards()
-    {
-        m_MovingTowardsDot = Vector3.Dot(m_JdController.bodyPartsDict[body].rb.velocity, m_DirToTarget.normalized);
-        AddReward(0.03f * m_MovingTowardsDot);
-    }
+        /// <summary>
+        /// Loop over body parts and reset them to initial conditions.
+        /// </summary>
+        public override void OnEpisodeBegin()
+        {
+            if (m_DirToTarget != Vector3.zero)
+            {
+                transform.rotation = Quaternion.LookRotation(m_DirToTarget);
+            }
-    /// <summary>
-    /// Reward facing target & Penalize facing away from target
-    /// </summary>
-    void RewardFunctionFacingTarget()
-    {
-        m_FacingDot = Vector3.Dot(m_DirToTarget.normalized, body.forward);
-        AddReward(0.01f * m_FacingDot);
-    }
-
-    /// <summary>
-    /// Existential penalty for time-contrained tasks.
-    /// </summary>
-    void RewardFunctionTimePenalty()
-    {
-        AddReward(-0.001f);
-    }
+            transform.Rotate(Vector3.up, Random.Range(0.0f, 360.0f));
-    /// <summary>
-    /// Loop over body parts and reset them to initial conditions.
-    /// </summary>
-    public override void OnEpisodeBegin()
-    {
-        if (m_DirToTarget != Vector3.zero)
-        {
-            transform.rotation = Quaternion.LookRotation(m_DirToTarget);
-        }
-        transform.Rotate(Vector3.up, Random.Range(0.0f, 360.0f));
+            foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+            {
+                bodyPart.Reset(bodyPart);
+            }
-        foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
-        {
-            bodyPart.Reset(bodyPart);
-        }
-        if (!targetIsStatic)
-        {
-            GetRandomTargetPos();
+            if (!targetIsStatic)
+            {
+                GetRandomTargetPos();
+            }
-}
+}

Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/CameraFollow.cs

 {
     public class CameraFollow : MonoBehaviour
     {
-        public Transform target;
-        Vector3 m_Offset;
-
-        // Use this for initialization
-        void Start()
-        {
-            m_Offset = gameObject.transform.position - target.position;
-        }
+        Transform m_Target;
+        Vector3   m_Offset = new Vector3(5.0f, 7.0f, 5.0f);
-            // gameObject.transform.position = target.position + offset;
-            var newPosition = new Vector3(target.position.x + m_Offset.x, transform.position.y,
-                target.position.z + m_Offset.z);
-            gameObject.transform.position = newPosition;
+            if (m_Target == null)
+            {
+                var targetGO = GameObject.Find("Body");
+                m_Target = targetGO.transform;
+
+            }
+
+            gameObject.transform.position = m_Target.position + m_Offset;
+            gameObject.transform.LookAt(m_Target);
         }
     }
 }

config/ppo/ArticulatedCrawlerDynamic.yaml

+behaviors:
+  ArticulatedCrawlerDynamic:
+    trainer_type: ppo
+    hyperparameters:
+      batch_size: 2024
+      buffer_size: 20240
+      learning_rate: 0.0003
+      beta: 0.005
+      epsilon: 0.2
+      lambd: 0.95
+      num_epoch: 3
+      learning_rate_schedule: linear
+    network_settings:
+      normalize: true
+      hidden_units: 512
+      num_layers: 3
+      vis_encode_type: simple
+    reward_signals:
+      extrinsic:
+        gamma: 0.995
+        strength: 1.0
+    output_path: default
+    keep_checkpoints: 5
+    max_steps: 10000000
+    time_horizon: 1000
+    summary_freq: 30000
+    threaded: true

config/ppo/ArticulatedReacher.yaml

+behaviors:
+  ArticulatedReacher:
+    trainer_type: ppo
+    hyperparameters:
+      batch_size: 2024
+      buffer_size: 20240
+      learning_rate: 0.0003
+      beta: 0.005
+      epsilon: 0.2
+      lambd: 0.95
+      num_epoch: 3
+      learning_rate_schedule: linear
+    network_settings:
+      normalize: true
+      hidden_units: 128
+      num_layers: 2
+      vis_encode_type: simple
+    reward_signals:
+      extrinsic:
+        gamma: 0.995
+        strength: 1.0
+    output_path: default
+    keep_checkpoints: 5
+    max_steps: 20000000
+    time_horizon: 1000
+    summary_freq: 60000
+    threaded: true

Project/Assets/ML-Agents/Examples/Reacher/TFModels/ReacherLearning.nn

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

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

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

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

+using UnityEngine;
+
+namespace Unity.MLAgentsExamples
+{
+
+
+    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);
+            }
+        }
+    }
+}

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

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

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

+using System;
+using System.Net;
+using Unity.MLAgents;
+using UnityEngine;
+
+public class ManualControlReacherArm : MonoBehaviour
+{
+    public GameObject reacherRoot;
+    public GameObject pendulumA;
+    public GameObject pendulumB;
+    public GameObject hand;
+    public GameObject goal;
+
+    public GameObject reacherRootPrefab;
+
+    private ArticulationBody m_AbA;
+    private ArticulationBody m_AbB;
+
+    private Rigidbody m_RbA;
+    private Rigidbody m_RbB;
+
+    private Vector3 m_TorqueA;
+    private Vector3 m_TorqueB;
+
+    public bool useAlternativeKeySetForInput = false;
+    public bool useArticulations = false;
+
+    /// <summary>
+    /// Collect the rigidbodies of the reacher in order to resue them for
+    /// observations and actions.
+    /// </summary>
+    public void Start()
+    {
+        if (useArticulations)
+        {
+            m_AbA = pendulumA.GetComponent<ArticulationBody>();
+            m_AbB = pendulumB.GetComponent<ArticulationBody>();
+        }
+        else
+        {
+            m_RbA = pendulumA.GetComponent<Rigidbody>();
+            m_RbB = pendulumB.GetComponent<Rigidbody>();
+        }
+
+        m_TorqueA = m_TorqueB = Vector3.zero;
+    }
+
+    /// <summary>
+    /// Resets the position and velocity of the agent and the goal.
+    /// </summary>
+    public void AgentReset()
+    {
+        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>();
+
+    }
+
+    public void FixedUpdate()
+    {
+        //float maxTorque = 1000f;
+        float deltaTorque = 150f;
+
+        m_TorqueA = Vector3.zero;
+        m_TorqueB = Vector3.zero;
+
+        if (useAlternativeKeySetForInput && !Input.GetKey(KeyCode.RightBracket))
+            return;
+
+        // upper arm
+        if (Input.GetKey(KeyCode.A))
+            m_TorqueA.x += deltaTorque;
+        if (Input.GetKey(KeyCode.Z))
+            m_TorqueA.x -= deltaTorque;
+        if (Input.GetKey(KeyCode.S))
+            m_TorqueA.y += deltaTorque;
+        if (Input.GetKey(KeyCode.X))
+            m_TorqueA.y -= deltaTorque;
+        if (Input.GetKey(KeyCode.D))
+            m_TorqueA.z += deltaTorque;
+        if (Input.GetKey(KeyCode.C))
+            m_TorqueA.z -= deltaTorque;
+
+        // lower arm
+        if (Input.GetKey(KeyCode.F))
+            m_TorqueB.x += deltaTorque;
+        if (Input.GetKey(KeyCode.V))
+            m_TorqueB.x -= deltaTorque;
+        if (Input.GetKey(KeyCode.G))
+            m_TorqueB.y += deltaTorque;
+        if (Input.GetKey(KeyCode.B))
+            m_TorqueB.y -= deltaTorque;
+        if (Input.GetKey(KeyCode.H))
+            m_TorqueB.z += deltaTorque;
+        if (Input.GetKey(KeyCode.N))
+           m_TorqueB.z -= deltaTorque;
+
+
+
+        //m_TorqueA.x = Mathf.Clamp(m_TorqueA.x, -1.0f, 1.0f);
+        //m_TorqueA.y = Mathf.Clamp(m_TorqueA.y, -1.0f, 1.0f);
+        //m_TorqueA.z = Mathf.Clamp(m_TorqueA.z, -1.0f, 1.0f);
+
+        if (useArticulations)
+        {
+            m_AbA.AddTorque(m_TorqueA);
+            m_AbB.AddTorque(m_TorqueB);
+        }
+        else
+        {
+            m_RbA.AddTorque(m_TorqueA);
+            m_RbB.AddTorque(m_TorqueB);
+        }
+
+
+        // Only for articulations
+        if (Input.GetKey(KeyCode.Escape))
+            AgentReset();
+    }
+};
+

Project/Assets/ML-Agents/Examples/Reacher/Scripts/ManualControlReacherArm.cs.meta

+fileFormatVersion: 2
+guid: 156536e3d4854870b084a1f1de48e49e
+timeCreated: 1571743684

Project/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAcademy.cs

+using UnityEngine;
+
+// TODO move to ProjectOverrides
+//public class ReacherAcademy : Academy
+//{
+//    public override void AcademyReset()
+//    {
+//        Physics.gravity = new Vector3(0, -resetParameters["gravity"], 0);
+//    }
+//
+//    public override void AcademyStep()
+//    {
+//    }
+//}

Project/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAcademy.cs.meta

+fileFormatVersion: 2
+guid: 4c970415924214d13949fbd6cddd1759
+timeCreated: 1503355437
+licenseType: Free
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Project/Assets/ML-Agents/Examples/Reacher/Scripts/ArticulatedReacherAgent.cs

+using UnityEngine;
+using Unity.MLAgents;
+using Unity.MLAgents.Sensors;
+
+namespace Unity.MLAgentsExamples
+{
+
+    public class ArticulatedReacherAgent : Agent
+    {
+        public GameObject reacherRoot;
+        public GameObject pendulumA;
+        public GameObject pendulumB;
+        public GameObject hand;
+        public GameObject goal;
+        public GameObject reacherRootPrefab;
+
+        EnvironmentParameters m_ResetParams;
+        float m_GoalDegree;
+
+        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)
+        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 Initialize()
+        {
+            m_RbA = pendulumA.GetComponent<ArticulationBody>();
+            m_RbB = pendulumB.GetComponent<ArticulationBody>();
+            m_ResetParams = Academy.Instance.EnvironmentParameters;
+
+
+            m_PendulumAName = pendulumA.name;
+            m_PendulumBName = pendulumB.name;
+            m_ReacherRootName = reacherRoot.name;
+            m_HandName = hand.name;
+
+            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(VectorSensor vectorSensor)
+        {
+            Vector3 pendulumAPosToLocalSpace = transform.InverseTransformPoint(pendulumA.transform.position);
+            vectorSensor.AddObservation(pendulumAPosToLocalSpace);
+            vectorSensor.AddObservation(pendulumA.transform.rotation);
+
+            // Below resulted in 1.691 after 1 M steps
+            vectorSensor.AddObservation(transform.InverseTransformVector(m_RbA.angularVelocity));
+            vectorSensor.AddObservation(transform.InverseTransformVector(m_RbA.velocity));
+
+            // Below resulted in 0.0732 after 1 M steps, not learning
+            //vectorSensor.AddObservation(m_RbA.angularVelocity);
+            //vectorSensor.AddObservation(m_RbA.velocity);
+
+
+
+            Vector3 pendulumBPosToLocalSpace = transform.InverseTransformPoint(pendulumB.transform.position);
+            vectorSensor.AddObservation(pendulumBPosToLocalSpace);
+            vectorSensor.AddObservation(pendulumB.transform.rotation);
+
+            // Below resulted in 1.691 after 1 M steps
+            vectorSensor.AddObservation(transform.InverseTransformVector(m_RbB.angularVelocity));
+            vectorSensor.AddObservation(transform.InverseTransformVector(m_RbB.velocity));
+
+            // Below resulted in 0.0732 after 1 M steps, not learning
+            //vectorSensor.AddObservation(m_RbB.angularVelocity);
+            //vectorSensor.AddObservation(m_RbB.velocity);
+
+            Vector3 goalPosToLocalSpace = transform.InverseTransformPoint(goal.transform.position);
+            vectorSensor.AddObservation(goalPosToLocalSpace);
+
+            Vector3 handPosToLocalSpace = transform.InverseTransformPoint(hand.transform.position);
+            vectorSensor.AddObservation(handPosToLocalSpace);
+
+            //vectorSensor.AddObservation(m_GoalSpeed);
+            // Below resulted in 4.18 after 1 M steps and reached 37.52 after 1.25 M steps
+            vectorSensor.AddObservation(Vector3.Distance(goalPosToLocalSpace, handPosToLocalSpace));
+        }
+
+        /// <summary>
+        /// The agent's four actions correspond to torques on each of the two joints.
+        /// </summary>
+        public override void OnActionReceived(float[] vectorAction)
+        {
+            m_GoalDegree += m_GoalSpeed;
+            UpdateGoalPosition();
+
+            //float maxTorque = 150f;
+            float maxTorque = 150f;
+
+            var torqueX = Mathf.Clamp(vectorAction[0], -1f, 1f) * maxTorque;
+            var torqueZ = Mathf.Clamp(vectorAction[1], -1f, 1f) * maxTorque;
+            m_RbA.AddTorque(new Vector3(torqueX, 0f, torqueZ));
+
+            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>
+        /// 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 OnEpisodeBegin()
+        {
+            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;
+
+
+            m_RbA = pendulumA.GetComponent<ArticulationBody>();
+            m_RbB = pendulumB.GetComponent<ArticulationBody>();
+
+            m_GoalDegree = Random.Range(0, 360);
+            UpdateGoalPosition();
+
+            SetResetParameters();
+
+            goal.transform.localScale = new Vector3(m_GoalSize, m_GoalSize, m_GoalSize);
+
+            // Supply correct newly instantiated hand for collision checking
+            ArticulatedReacherGoal gc = goal.GetComponent<ArticulatedReacherGoal>();
+            gc.hand = hand;
+        }
+
+
+        public void SetResetParameters()
+        {
+            m_GoalSize = m_ResetParams.GetWithDefault("goal_size", 5);
+            m_GoalSpeed = Random.Range(-1f, 1f) * m_ResetParams.GetWithDefault("goal_speed", 1);
+            m_Deviation = m_ResetParams.GetWithDefault("deviation", 0);
+            m_DeviationFreq = m_ResetParams.GetWithDefault("deviation_freq", 0);
+        }
+
+    }
+}

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Project/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedCrawlerManualControl.cs

+using System;
+using UnityEngine;
+
+namespace Unity.MLAgentsExamples
+{
+    public class ArticulatedCrawlerManualControl : MonoBehaviour
+    {
+        public GameObject upperLeg0, upperLeg1;
+        public GameObject foreLeg0, foreLeg1;
+        public GameObject body;
+
+        public GameObject rootBodyPrefab;
+
+        private ArticulationBody m_AbUpper0, m_AbUpper1;
+        private ArticulationBody m_AbFore0, m_AbFore1;
+        private ArticulationBody m_AbBody;
+
+        private Vector3 m_rotationUpper0, m_rotationUpper1;
+        private Vector3 m_rotationFore0, m_rotationFore1;
+
+        public bool useAlternativeKeySetForInput = false;
+        public float maxJointForceLimit = 1000;
+        public float maxJointSpring = 40;
+        public float jointDampen = 3000;
+
+        public float currentStrength = 0.0f;
+
+
+
+        private void InitializeLegGameObjects()
+        {
+            string namePrefix = name + "/" + rootBodyPrefab.name + "/";
+            upperLeg0 = GameObject.Find(namePrefix + "UpperLegBone0");
+            upperLeg1 = GameObject.Find(namePrefix + "UpperLegBone1");
+            foreLeg0 = GameObject.Find(namePrefix + upperLeg0.name + "/" + "ForeLegBone0");
+            foreLeg1 = GameObject.Find(namePrefix + upperLeg1.name + "/" + "ForeLegBone1");
+
+        }
+        private void InitializeArticulationBodies()
+        {
+            m_AbUpper0 = upperLeg0.GetComponent<ArticulationBody>();
+            m_AbFore0 = foreLeg0.GetComponent<ArticulationBody>();
+
+            m_AbUpper1 = upperLeg1.GetComponent<ArticulationBody>();
+            m_AbFore1 = foreLeg1.GetComponent<ArticulationBody>();
+
+            m_AbBody = body.GetComponent<ArticulationBody>();
+
+        }
+        public void Start()
+        {
+            InitializeArticulationBodies();
+            m_rotationUpper0 = m_rotationFore0 = m_rotationUpper1 = m_rotationFore1 = Vector3.zero;
+        }
+
+        /// <summary>
+        /// Resets the position and velocity of the agent and the goal.
+        /// </summary>
+        public void AgentReset()
+        {
+
+            Vector3 position = new Vector3(0.0f, 8.0f, 6.3f);
+            Quaternion rotation = Quaternion.identity;
+
+            string bodyName = body.name;
+            DestroyImmediate(body);
+            body = Instantiate(rootBodyPrefab, position, rotation);
+            body.transform.parent = transform;
+            body.name = bodyName;
+
+            InitializeLegGameObjects();
+            InitializeArticulationBodies();
+            m_rotationUpper0 = m_rotationFore0 = m_rotationUpper1 = m_rotationFore1 = Vector3.zero;
+
+            /*
+            m_AbUpper.transform.position = new Vector3(0f, -4f, 0f) + transform.position;
+            m_AbFore.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);
+            */
+        }
+
+        public void FixedUpdate()
+        {
+            //float maxTorque = 1000f;
+            float speed = 100f;
+            float deltaRotation = speed * Time.fixedDeltaTime;
+
+            m_rotationUpper0.x = m_AbUpper0.xDrive.target;
+            m_rotationUpper0.y = m_AbUpper0.yDrive.target;
+            m_rotationUpper0.z = m_AbUpper0.zDrive.target;
+
+            m_rotationUpper1.x = m_AbUpper1.xDrive.target;
+            m_rotationUpper1.y = m_AbUpper1.yDrive.target;
+            m_rotationUpper1.z = m_AbUpper1.zDrive.target;
+
+
+
+            // upper arm
+            if (Input.GetKey(KeyCode.A))
+            {
+                m_rotationUpper0.x += deltaRotation;
+                m_rotationUpper1.x += deltaRotation;
+            }
+
+            if (Input.GetKey(KeyCode.Z))
+            {
+                m_rotationUpper0.x -= deltaRotation;
+                m_rotationUpper1.x -= deltaRotation;
+            }
+
+            if (Input.GetKey(KeyCode.S))
+            {
+                m_rotationUpper0.y += deltaRotation;
+                m_rotationUpper1.y += deltaRotation;
+            }
+
+            if (Input.GetKey(KeyCode.X))
+            {
+                m_rotationUpper0.y -= deltaRotation;
+                m_rotationUpper1.y -= deltaRotation;
+            }
+
+            if (Input.GetKey(KeyCode.D))
+            {
+                m_rotationUpper0.z += deltaRotation;
+                m_rotationUpper1.z += deltaRotation;
+            }
+
+            if (Input.GetKey(KeyCode.C))
+            {
+                m_rotationUpper0.z -= deltaRotation;
+                m_rotationUpper1.z -= deltaRotation;
+            }
+
+
+            m_rotationUpper0.x = Mathf.Clamp(m_rotationUpper0.x, -180.0f, 180.0f);
+            m_rotationUpper0.y = Mathf.Clamp(m_rotationUpper0.y, -180.0f, 180.0f);
+            m_rotationUpper0.z = Mathf.Clamp(m_rotationUpper0.z, -180.0f, 180.0f);
+
+            m_rotationUpper1.x = Mathf.Clamp(m_rotationUpper1.x, -180.0f, 180.0f);
+            m_rotationUpper1.y = Mathf.Clamp(m_rotationUpper1.y, -180.0f, 180.0f);
+            m_rotationUpper1.z = Mathf.Clamp(m_rotationUpper1.z, -180.0f, 180.0f);
+
+
+            // lower arm
+
+            m_rotationFore0.x = m_AbFore0.xDrive.target;
+            m_rotationFore0.y = m_AbFore0.yDrive.target;
+            m_rotationFore0.z = m_AbFore0.zDrive.target;
+
+
+            if (Input.GetKey(KeyCode.F))
+            {
+                m_rotationFore0.x += deltaRotation;
+                m_rotationFore1.x += deltaRotation;
+            }
+
+            if (Input.GetKey(KeyCode.V))
+            {
+                m_rotationFore0.x -= deltaRotation;
+                m_rotationFore1.x -= deltaRotation;
+            }
+
+            if (Input.GetKey(KeyCode.G))
+            {
+                m_rotationFore0.y += deltaRotation;
+                m_rotationFore1.y += deltaRotation;
+            }
+
+            if (Input.GetKey(KeyCode.B))
+            {
+                m_rotationFore0.y -= deltaRotation;
+                m_rotationFore1.y -= deltaRotation;
+            }
+
+            if (Input.GetKey(KeyCode.H))
+            {
+                m_rotationFore0.z += deltaRotation;
+                m_rotationFore1.z += deltaRotation;
+            }
+
+            if (Input.GetKey(KeyCode.N))
+            {
+                m_rotationFore0.z -= deltaRotation;
+                m_rotationFore1.z -= deltaRotation;
+            }
+
+            m_rotationFore0.x = Mathf.Clamp(m_rotationFore0.x, -180.0f, 180.0f);
+            m_rotationFore0.y = Mathf.Clamp(m_rotationFore0.y, -180.0f, 180.0f);
+            m_rotationFore0.z = Mathf.Clamp(m_rotationFore0.z, -180.0f, 180.0f);
+
+            m_rotationFore1.x = Mathf.Clamp(m_rotationFore1.x, -180.0f, 180.0f);
+            m_rotationFore1.y = Mathf.Clamp(m_rotationFore1.y, -180.0f, 180.0f);
+            m_rotationFore1.z = Mathf.Clamp(m_rotationFore1.z, -180.0f, 180.0f);
+
+
+            SetJointTargetRotation(m_AbUpper0, m_rotationUpper0.x, m_rotationUpper0.y, m_rotationUpper0.z);
+            SetJointStrength(m_AbUpper0, 0.0001f);
+
+            SetJointTargetRotation(m_AbUpper1, m_rotationUpper1.x, m_rotationUpper1.y, m_rotationUpper1.z);
+            SetJointStrength(m_AbUpper1, 0.0001f);
+
+            SetJointTargetRotation(m_AbFore0, m_rotationFore0.x, m_rotationFore0.y, m_rotationFore0.z);
+            SetJointStrength(m_AbFore0, 0.0001f);
+
+            SetJointTargetRotation(m_AbFore1, m_rotationFore1.x, m_rotationFore1.y, m_rotationFore1.z);
+            SetJointStrength(m_AbFore1, 0.0001f);
+
+
+            if (Input.GetKey(KeyCode.Escape))
+                AgentReset();
+        }
+
+        public void SetJointTargetRotation(ArticulationBody arb, float x, float y, float z)
+        {
+            /*
+            // Incoming values need to be in [-1,1] interval
+            x = (x + 1f) * 0.5f;
+            y = (y + 1f) * 0.5f;
+            z = (z + 1f) * 0.5f;
+            */
+            var xDrive = arb.xDrive;
+            var yDrive = arb.yDrive;
+            var zDrive = arb.zDrive;
+
+
+            /*
+            var xRot = Mathf.Lerp(xDrive.lowerLimit, xDrive.upperLimit, x);
+            var yRot = Mathf.Lerp(yDrive.lowerLimit, yDrive.upperLimit, y);
+            var zRot = Mathf.Lerp(zDrive.lowerLimit, zDrive.upperLimit, z);
+
+            var currentXNormalizedRot =
+                Mathf.InverseLerp(xDrive.lowerLimit, xDrive.upperLimit, xRot);
+
+            // What is this ? Vilmantas Why lowerLimit is not used ?
+            var currentYNormalizedRot = Mathf.InverseLerp(yDrive.lowerLimit, yDrive.upperLimit, yRot);
+            var currentZNormalizedRot = Mathf.InverseLerp(zDrive.lowerLimit, zDrive.upperLimit, zRot);
+
+            //joint.targetRotation = Quaternion.Euler(xRot, yRot, zRot); // Original code
+            */
+            var xRot = x;
+            var yRot = y;
+            var zRot = z;
+
+            xDrive.target = xRot; yDrive.target = yRot; zDrive.target = zRot;
+
+            arb.xDrive = xDrive; arb.yDrive = yDrive; arb.zDrive = zDrive;
+
+            var currentEularJointRotation = new Vector3(xRot, yRot, zRot);
+        }
+
+        public void SetJointStrength(ArticulationBody arb, float strength)
+        {
+            var xDrive = arb.xDrive;
+            var yDrive = arb.yDrive;
+            var zDrive = arb.zDrive;
+
+            var rawVal = (strength + 1f) * 0.5f * maxJointForceLimit;
+
+            xDrive.stiffness = yDrive.stiffness = zDrive.stiffness = maxJointSpring;
+            xDrive.damping = yDrive.damping = zDrive.damping = jointDampen;
+            xDrive.forceLimit = yDrive.forceLimit = zDrive.forceLimit = rawVal;
+
+            // Slerp drive does not exist, so we try to set strength for each axis individually
+            arb.xDrive = xDrive;
+            arb.yDrive = yDrive;
+            arb.zDrive = zDrive;
+            //joint.slerpDrive = jd;
+            currentStrength = rawVal;
+        }
+
+        public void Update()
+        {
+            Debug.DrawLine(body.transform.position, body.transform.position + body.transform.forward * 10.0f);
+        }
+    }
+}

Project/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedCrawlerManualControl.cs.meta

+fileFormatVersion: 2
+guid: 1183164ed37748bf9cc8441ceb64df13
+timeCreated: 1572947634

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

+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Serialization;
+using Unity.MLAgents;
+
+namespace Unity.MLAgentsExamples
+{
+    /// <summary>
+    /// Used to store relevant information for acting and learning for each body part in agent.
+    /// </summary>
+    [System.Serializable]
+    public class ArticulationBodyPart
+    {
+        public ArticulationBody arb;
+        public Transform t;
+        [HideInInspector] public Vector3 startingPos;
+        [HideInInspector] public Quaternion startingRot;
+
+
+        [Header("Ground & Target Contact")][Space(10)]
+        public GroundContact groundContact;
+
+        public TargetContact targetContact;
+
+        [FormerlySerializedAs("thisJDController")]
+        [HideInInspector] public ArticulatedJointDriveController thisJdController;
+
+        [Header("Current Joint Settings")][Space(10)]
+        public Vector3 currentEularJointRotation;
+
+        [HideInInspector] public float currentStrength;
+        public float currentXNormalizedRot;
+        public float currentYNormalizedRot;
+        public float currentZNormalizedRot;
+
+
+        /// <summary>
+        /// Apply torque according to defined goal `x, y, z` angle and force `strength`.
+        /// </summary>
+        public void SetJointTargetRotation(float x, float y, float z)
+        {
+            x = (x + 1f) * 0.5f;
+            y = (y + 1f) * 0.5f;
+            z = (z + 1f) * 0.5f;
+
+            var xDrive = arb.xDrive;
+            var yDrive = arb.yDrive;
+            var zDrive = arb.zDrive;
+
+
+
+            var xRot = Mathf.Lerp(xDrive.lowerLimit, xDrive.upperLimit, x);
+            var yRot = Mathf.Lerp(yDrive.lowerLimit, yDrive.upperLimit, y);
+            var zRot = Mathf.Lerp(zDrive.lowerLimit, zDrive.upperLimit, z);
+
+            currentXNormalizedRot =
+                Mathf.InverseLerp(xDrive.lowerLimit, xDrive.upperLimit, xRot);
+
+            currentYNormalizedRot = Mathf.InverseLerp(yDrive.lowerLimit, yDrive.upperLimit, yRot);
+            currentZNormalizedRot = Mathf.InverseLerp(zDrive.lowerLimit, zDrive.upperLimit, zRot);
+
+            xDrive.target = xRot; yDrive.target = yRot; zDrive.target = zRot;
+
+            arb.xDrive = xDrive; arb.yDrive = yDrive; arb.zDrive = zDrive;
+
+            currentEularJointRotation = new Vector3(xRot, yRot, zRot);
+        }
+
+        public void SetJointStrength(float strength)
+        {
+            var xDrive = arb.xDrive;
+            var yDrive = arb.yDrive;
+            var zDrive = arb.zDrive;
+
+            var rawVal = (strength + 1f) * 0.5f * thisJdController.maxJointForceLimit;
+
+            xDrive.stiffness = yDrive.stiffness = zDrive.stiffness = thisJdController.maxJointSpring;
+            xDrive.damping = yDrive.damping = zDrive.damping = thisJdController.jointDampen;
+            xDrive.forceLimit = yDrive.forceLimit = zDrive.forceLimit = rawVal;
+
+            arb.xDrive = xDrive;
+            arb.yDrive = yDrive;
+            arb.zDrive = zDrive;
+            currentStrength = rawVal;
+        }
+    }
+
+    public class ArticulatedJointDriveController : MonoBehaviour
+    {
+        [Header("Joint Drive Settings")][Space(10)]
+        public float maxJointSpring;
+
+        public float jointDampen;
+        public float maxJointForceLimit;
+        float m_FacingDot;
+
+        [HideInInspector] public Dictionary<Transform, ArticulationBodyPart> bodyPartsDict = new Dictionary<Transform, ArticulationBodyPart>();
+
+        [HideInInspector] public List<ArticulationBodyPart> bodyPartsList = new List<ArticulationBodyPart>();
+
+
+        /// <summary>
+        /// Reset BodyPart list and dictionary.
+        /// </summary>
+        public void Reset()
+        {
+            bodyPartsDict.Clear();
+            bodyPartsList.Clear();
+        }
+        /// <summary>
+        /// Create BodyPart object and add it to dictionary.
+        /// </summary>
+        public void SetupBodyPart(Transform t)
+        {
+            // Either parent(in case of legs) or game object itself(in case of body) must have ArticulationBody
+            var arb = t.GetComponent<ArticulationBody>();
+            if (arb == null)
+                arb = t.parent.GetComponent<ArticulationBody>();
+
+            var bp = new ArticulationBodyPart()
+            {
+                arb =  arb,
+                t = t,
+                startingPos = t.position,
+                startingRot = t.rotation
+            };
+
+
+            // Add & setup the ground contact script
+            bp.groundContact = t.GetComponent<GroundContact>();
+            if (!bp.groundContact)
+            {
+                bp.groundContact = t.gameObject.AddComponent<GroundContact>();
+                bp.groundContact.agent = gameObject.GetComponent<Agent>();
+            }
+            else
+            {
+                bp.groundContact.agent = gameObject.GetComponent<Agent>();
+            }
+
+            // Add & setup the target contact script
+            bp.targetContact = t.GetComponent<TargetContact>();
+            if (!bp.targetContact)
+            {
+                bp.targetContact = t.gameObject.AddComponent<TargetContact>();
+            }
+
+            bp.thisJdController = this;
+            bodyPartsDict.Add(t, bp);
+            bodyPartsList.Add(bp);
+        }
+
+
+        public static Transform FindBodyPartByName(Transform rootBody, string bodyPartName)
+        {
+            Queue<Transform> queue = new Queue<Transform>();
+            queue.Enqueue(rootBody);
+            while (queue.Count > 0)
+            {
+                Transform child = queue.Dequeue();
+                if (child.name == bodyPartName)
+                    return child;
+                foreach(Transform t in child)
+                    queue.Enqueue(t);
+            }
+            return null;
+        }
+    }
+}

Project/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedJointDriveController.cs.meta

+fileFormatVersion: 2
+guid: d8020ed16eb94c9aac4589a46facb1fa
+timeCreated: 1572439925

Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAcademy.cs

+using UnityEngine;
+using Unity.MLAgents;
+
+// TODO move to ProjectOverrides
+
+//
+//public class CrawlerAcademy : Academy
+//{
+//    public override void InitializeAcademy()
+//    {
+//        Monitor.verticalOffset = 1f;
+//        Physics.defaultSolverIterations = 12;
+//        Physics.defaultSolverVelocityIterations = 12;
+//        Time.fixedDeltaTime = 0.01333f; // (75fps). default is .2 (60fps)
+//        Time.maximumDeltaTime = .15f; // Default is .33
+//    }
+//
+//    public override void AcademyReset()
+//    {
+//    }
+//
+//    public override void AcademyStep()
+//    {
+//    }
+//}

Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAcademy.cs.meta

+fileFormatVersion: 2
+guid: 05e76ca0a155e48caa36ee60e64ee9c9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

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

+using System;
+using UnityEngine;
+using Unity.MLAgents;
+using Unity.MLAgents.Sensors;
+using Random = UnityEngine.Random;
+
+namespace Unity.MLAgentsExamples
+{
+    [RequireComponent(typeof(ArticulatedJointDriveController))] // Required to set joint forces
+    public class ArticulatedCrawlerAgent : Agent
+    {
+        [Header("Target To Walk Towards")]
+        [Space(10)]
+        public Transform target;
+
+        public Transform ground;
+        public bool detectTargets;
+        public bool targetIsStatic = false;
+        public bool respawnTargetWhenTouched;
+        public float targetSpawnRadius;
+
+        [Header("Body Parts")]
+        [Space(10)]
+        public Transform rootBodyPrefab;
+        public Transform body;
+        public Transform leg0Upper;
+        public Transform leg0Lower;
+        public Transform leg1Upper;
+        public Transform leg1Lower;
+        public Transform leg2Upper;
+        public Transform leg2Lower;
+        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;
+        float m_FacingDot;
+
+        [Header("Reward Functions To Use")]
+        [Space(10)]
+        public bool rewardMovingTowardsTarget; // Agent should move towards target
+
+        public bool rewardFacingTarget; // Agent should face the target
+        public bool rewardUseTimePenalty; // Hurry up
+
+        [Header("Foot Grounded Visualization")]
+        [Space(10)]
+        public bool useFootGroundedVisualization;
+
+        public MeshRenderer foot0;
+        public MeshRenderer foot1;
+        public MeshRenderer foot2;
+        public MeshRenderer foot3;
+        public Material groundedMaterial;
+        public Material unGroundedMaterial;
+
+        Quaternion m_LookRotation;
+        Matrix4x4 m_TargetDirMatrix;
+
+        public override void Initialize()
+        {
+            m_JdController = GetComponent<ArticulatedJointDriveController>();
+            m_DirToTarget = target.position - body.position;
+
+            m_JdController.Reset();
+            SetupBodyParts();
+            SaveBodyPartNames();
+        }
+
+        /// <summary>
+        /// Setup body parts - add body part and configure ArticulatedJoinDriveController
+        /// </summary>
+        private void SetupBodyParts()
+        {
+            //Setup each body part
+            m_JdController.SetupBodyPart(body);
+            m_JdController.SetupBodyPart(leg0Upper);
+            m_JdController.SetupBodyPart(leg0Lower);
+            m_JdController.SetupBodyPart(leg1Upper);
+            m_JdController.SetupBodyPart(leg1Lower);
+            m_JdController.SetupBodyPart(leg2Upper);
+            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>
+        /// Add relevant information on each body part to observations.
+        /// </summary>
+        public void CollectObservationBodyPart(VectorSensor vectorSensor, ArticulationBodyPart bp)
+        {
+            var arb = bp.arb;
+            vectorSensor.AddObservation(bp.groundContact.touchingGround ? 1 : 0); // Whether the bp touching the ground
+
+            var velocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(arb.velocity);
+            vectorSensor.AddObservation(velocityRelativeToLookRotationToTarget);
+
+            var angularVelocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(arb.angularVelocity);
+            vectorSensor.AddObservation(angularVelocityRelativeToLookRotationToTarget);
+
+            if (bp.arb.transform != body)
+            {
+                var localPosRelToBody = body.InverseTransformPoint(arb.transform.position); // Translate from world space to body local space, since all articulations are children of body in hiearchy
+                //vectorSensor.AddObservation(localPosRelToBody);
+                vectorSensor.AddObservation(bp.currentXNormalizedRot); // Current x rot
+                vectorSensor.AddObservation(bp.currentYNormalizedRot); // Current y rot
+                vectorSensor.AddObservation(bp.currentZNormalizedRot); // Current z rot
+                vectorSensor.AddObservation(bp.currentStrength / m_JdController.maxJointForceLimit);
+            }
+        }
+
+        public override void CollectObservations(VectorSensor vectorSensor)
+        {
+            // Update pos to target
+            m_DirToTarget = target.position - body.position;
+            m_LookRotation = Quaternion.LookRotation(m_DirToTarget);
+            m_TargetDirMatrix = Matrix4x4.TRS(Vector3.zero, m_LookRotation, Vector3.one);
+
+            RaycastHit hit;
+            if (Physics.Raycast(body.position, Vector3.down, out hit, 10.0f))
+            {
+                vectorSensor.AddObservation(hit.distance);
+            }
+            else
+                vectorSensor.AddObservation(10.0f);
+
+            // Forward & up to help with orientation
+            var bodyForwardRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(body.forward);
+            vectorSensor.AddObservation(bodyForwardRelativeToLookRotationToTarget);
+
+            var bodyUpRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(body.up);
+            vectorSensor.AddObservation(bodyUpRelativeToLookRotationToTarget);
+
+            foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+            {
+                CollectObservationBodyPart(vectorSensor, bodyPart);
+            }
+        }
+
+        /// <summary>
+        /// Agent touched the target
+        /// </summary>
+        public void TouchedTarget()
+        {
+            AddReward(1f);
+            if (respawnTargetWhenTouched)
+            {
+                GetRandomTargetPos();
+            }
+        }
+
+        /// <summary>
+        /// Moves target to a random position within specified radius.
+        /// </summary>
+        public void GetRandomTargetPos()
+        {
+            var newTargetPos = Random.insideUnitSphere * targetSpawnRadius;
+            newTargetPos.y = 0.5f;
+            target.position = newTargetPos + ground.position;
+        }
+
+        public override void OnActionReceived(float[] vectorAction)
+        {
+            // The dictionary with all the body parts in it are in the jdController
+            var bpDict = m_JdController.bodyPartsDict;
+
+            var i = -1;
+
+            // Pick a new target joint rotation
+            bpDict[leg0Upper].SetJointTargetRotation(0, vectorAction[++i], vectorAction[++i]);
+            bpDict[leg1Upper].SetJointTargetRotation(0, vectorAction[++i], vectorAction[++i]);
+            bpDict[leg2Upper].SetJointTargetRotation(0, vectorAction[++i], vectorAction[++i]);
+            bpDict[leg3Upper].SetJointTargetRotation(0, vectorAction[++i], vectorAction[++i]);
+            bpDict[leg0Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+            bpDict[leg1Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+            bpDict[leg2Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+            bpDict[leg3Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+
+            // Update joint strength
+            bpDict[leg0Upper].SetJointStrength(vectorAction[++i]);
+            bpDict[leg1Upper].SetJointStrength(vectorAction[++i]);
+            bpDict[leg2Upper].SetJointStrength(vectorAction[++i]);
+            bpDict[leg3Upper].SetJointStrength(vectorAction[++i]);
+            bpDict[leg0Lower].SetJointStrength(vectorAction[++i]);
+            bpDict[leg1Lower].SetJointStrength(vectorAction[++i]);
+            bpDict[leg2Lower].SetJointStrength(vectorAction[++i]);
+            bpDict[leg3Lower].SetJointStrength(vectorAction[++i]);
+        }
+
+        void FixedUpdate()
+        {
+            if (detectTargets)
+            {
+                foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+                {
+                    if (bodyPart.targetContact
+                        // && !IsDone() // TODO old code?
+                        && bodyPart.targetContact.touchingTarget)
+                    {
+                        TouchedTarget();
+                    }
+                }
+            }
+
+            // If enabled the feet will light up green when the foot is grounded.
+            // This is just a visualization and isn't necessary for function
+            if (useFootGroundedVisualization)
+            {
+                foot0.material = m_JdController.bodyPartsDict[leg0Lower].groundContact.touchingGround
+                    ? groundedMaterial
+                    : unGroundedMaterial;
+                foot1.material = m_JdController.bodyPartsDict[leg1Lower].groundContact.touchingGround
+                    ? groundedMaterial
+                    : unGroundedMaterial;
+                foot2.material = m_JdController.bodyPartsDict[leg2Lower].groundContact.touchingGround
+                    ? groundedMaterial
+                    : unGroundedMaterial;
+                foot3.material = m_JdController.bodyPartsDict[leg3Lower].groundContact.touchingGround
+                    ? groundedMaterial
+                    : unGroundedMaterial;
+            }
+
+            // Set reward for this step according to mixture of the following elements.
+            if (rewardMovingTowardsTarget)
+            {
+                RewardFunctionMovingTowards();
+            }
+
+            if (rewardFacingTarget)
+            {
+                RewardFunctionFacingTarget();
+            }
+
+            if (rewardUseTimePenalty)
+            {
+                RewardFunctionTimePenalty();
+            }
+        }
+
+        /// <summary>
+        /// Reward moving towards target & Penalize moving away from target.
+        /// </summary>
+        void RewardFunctionMovingTowards()
+        {
+            m_MovingTowardsDot = Vector3.Dot(m_JdController.bodyPartsDict[body].arb.velocity, m_DirToTarget.normalized);
+            AddReward(0.03f * m_MovingTowardsDot);
+        }
+
+        /// <summary>
+        /// Reward facing target & Penalize facing away from target
+        /// </summary>
+        void RewardFunctionFacingTarget()
+        {
+            m_FacingDot = Vector3.Dot(m_DirToTarget.normalized, body.forward);
+            AddReward(0.01f * m_FacingDot);
+        }
+
+        /// <summary>
+        /// Existential penalty for time-contrained tasks.
+        /// </summary>
+        void RewardFunctionTimePenalty()
+        {
+            AddReward(-0.001f);
+        }
+
+        /// <summary>
+        /// Loop over body parts and reset them to initial conditions.
+        /// </summary>
+        public override void OnEpisodeBegin()
+        {
+            Vector3 position = m_JdController.bodyPartsDict[body].startingPos;
+
+            // For starting position, make a random orientation
+            Quaternion rotation = Quaternion.identity;
+            Vector3 randomViewPos = Random.onUnitSphere * 10.0f + position;
+            randomViewPos.y = position.y; // Look at the height of body center
+
+            rotation.SetLookRotation(randomViewPos, Vector3.up);
+
+            m_JdController.Reset();
+
+            string bodyName = body.name;
+            //DestroyImmediate(body.gameObject);
+            Destroy(body.gameObject);
+            body = Instantiate(rootBodyPrefab, position, rotation);
+            body.transform.parent = transform;
+            body.name = bodyName;
+
+
+            ResetLegTransforms(body);
+            SetupBodyParts();
+
+            if (!targetIsStatic)
+            {
+                GetRandomTargetPos();
+            }
+        }
+
+        /// <summary>
+        /// After spawning new prefab, reinitialize transforms of body parts
+        /// </summary>
+        /// <param name="rootBody"></param>
+        private void ResetLegTransforms(Transform rootBody)
+        {
+            leg0Upper = ArticulatedJointDriveController.FindBodyPartByName(rootBody, leg0UpperName);
+            leg1Upper = ArticulatedJointDriveController.FindBodyPartByName(rootBody, leg1UpperName);
+            leg2Upper = ArticulatedJointDriveController.FindBodyPartByName(rootBody, leg2UpperName);
+            leg3Upper = ArticulatedJointDriveController.FindBodyPartByName(rootBody, leg3UpperName);
+
+            leg0Lower = ArticulatedJointDriveController.FindBodyPartByName(rootBody, leg0LowerName);
+            leg1Lower = ArticulatedJointDriveController.FindBodyPartByName(rootBody, leg1LowerName);
+            leg2Lower = ArticulatedJointDriveController.FindBodyPartByName(rootBody, leg2LowerName);
+            leg3Lower = ArticulatedJointDriveController.FindBodyPartByName(rootBody, leg3LowerName);
+        }
+    }
+}

Project/Assets/ML-Agents/Examples/SharedAssets/ArticulationBodySensor.cs

+using System;
+using System.Collections.Generic;
+using Unity.MLAgents.Sensors;
+using UnityEngine;
+
+[Serializable]
+public class ArticulationBodySensorSettings
+{
+    public enum TransformFormat
+    {
+        PositionForwardRight,
+        PositionQuaternion,
+    };
+
+    public enum JointAngleFunction
+    {
+        Ignore,
+        Fmod,
+        SinCos,
+    }
+
+    public static readonly Dictionary<TransformFormat, int> s_NumObservationsByTransformFormat =
+        new Dictionary<TransformFormat, int>
+        {
+            { TransformFormat.PositionForwardRight, 9 }, // transform pos, fwd, right
+            { TransformFormat.PositionQuaternion, 7 } // transform pos, quaternion
+        };
+
+    public static readonly Dictionary<JointAngleFunction, int> s_NumObservationsByJointAngleFunction =
+        new Dictionary<JointAngleFunction, int>
+        {
+            { JointAngleFunction.Ignore, 0 },
+            { JointAngleFunction.Fmod, 1 },
+            { JointAngleFunction.SinCos, 2 }
+        };
+
+    public TransformFormat transformFormat = TransformFormat.PositionForwardRight;
+    public JointAngleFunction jointAngleFunction = JointAngleFunction.Fmod;
+
+
+    public int NumTransformObservations
+    {
+        get { return s_NumObservationsByTransformFormat[transformFormat]; }
+    }
+
+    public int NumJointAngleObservations
+    {
+        get { return s_NumObservationsByJointAngleFunction[jointAngleFunction]; }
+    }
+}
+
+public class ArticulationBodySensor : ISensor
+{
+    string m_SensorName;
+    int[] m_Shape;
+    ArticulationBody[] m_Bodies;
+    ArticulationBodySensorSettings m_Settings;
+
+    public ArticulationBodySensor(ArticulationBody rootBody, ArticulationBodySensorSettings settings, string name = null)
+    {
+        m_SensorName = string.IsNullOrEmpty(name) ? $"ArticulationBodySensor:{rootBody.name}" : name;
+        m_Settings = settings;
+        // Note that m_Bodies[0] will always be rootBody
+        m_Bodies = rootBody.GetComponentsInChildren<ArticulationBody>();
+
+        var sensorSize = GetArticulationSensorSize(rootBody, settings);
+        m_Shape = new[] { sensorSize };
+    }
+
+    /// <inheritdoc/>
+    public int[] GetObservationShape()
+    {
+        return m_Shape;
+    }
+
+    /// <inheritdoc/>
+    public int Write(ObservationWriter writer)
+    {
+        int obsIndex = 0;
+        foreach (var body in m_Bodies)
+        {
+            obsIndex = WriteBody(writer, body, obsIndex);
+        }
+
+        return obsIndex;
+    }
+
+    /// <inheritdoc/>
+    public byte[] GetCompressedObservation()
+    {
+        throw new NotImplementedException();
+    }
+
+    /// <inheritdoc/>
+    public void Update()
+    {
+
+    }
+
+    /// <inheritdoc/>
+    public void Reset() { }
+
+    /// <inheritdoc/>
+    public SensorCompressionType GetCompressionType()
+    {
+        return SensorCompressionType.None;
+    }
+
+    /// <inheritdoc/>
+    public string GetName()
+    {
+        return m_SensorName;
+    }
+
+    public static int GetArticulationSensorSize(ArticulationBody rootBody, ArticulationBodySensorSettings settings)
+    {
+        if (rootBody == null)
+        {
+            return 0;
+        }
+
+        int numObs = 0;
+        var bodies = rootBody.GetComponentsInChildren<ArticulationBody>();
+        foreach (var childBody in bodies)
+        {
+            numObs += GetArticulationObservationSize(childBody, settings);
+        }
+
+        return numObs;
+    }
+
+    static int GetArticulationObservationSize(ArticulationBody body, ArticulationBodySensorSettings settings)
+    {
+        if (body == null)
+        {
+            return 0;
+        }
+
+        var transformObsSize = settings.NumTransformObservations;
+
+        // TODO more observations for dof depending on type
+        var obsPerDof = settings.NumJointAngleObservations;
+        var dof = body.dofCount;
+        return transformObsSize + dof * obsPerDof;
+    }
+
+    int WriteBody(ObservationWriter writer, ArticulationBody body, int observationIndex)
+    {
+        if (body == null)
+        {
+            // TODO - getting this error
+            //   MissingReferenceException: The object of type 'ArticulationBody' has been destroyed but you are still trying to access it.
+            //   Your script should either check if it is null or you should not destroy the object.
+            // Handle later.
+            return observationIndex;
+        }
+
+        var rootWorldTransform = m_Bodies[0].transform;
+        var modelSpacePos = rootWorldTransform.InverseTransformPoint(body.transform.position);
+
+        writer[observationIndex++] = modelSpacePos.x;
+        writer[observationIndex++] = modelSpacePos.y;
+        writer[observationIndex++] = modelSpacePos.z;
+
+        if (m_Settings.transformFormat == ArticulationBodySensorSettings.TransformFormat.PositionForwardRight)
+        {
+            var modelFwd = rootWorldTransform.InverseTransformDirection(body.transform.forward);
+            writer[observationIndex++] = modelFwd.x;
+            writer[observationIndex++] = modelFwd.y;
+            writer[observationIndex++] = modelFwd.z;
+
+            var modelRight = rootWorldTransform.InverseTransformDirection(body.transform.right);
+            writer[observationIndex++] = modelRight.x;
+            writer[observationIndex++] = modelRight.y;
+            writer[observationIndex++] = modelRight.z;
+        }
+        else
+        {
+            // TODO not 100% sure this is right
+            var modelSpaceRot = Quaternion.Inverse(rootWorldTransform.rotation) * body.transform.rotation;
+            writer[observationIndex++] = modelSpaceRot.x;
+            writer[observationIndex++] = modelSpaceRot.y;
+            writer[observationIndex++] = modelSpaceRot.z;
+            writer[observationIndex++] = modelSpaceRot.w;
+        }
+
+        // Write degree-of-freedom info. For now, assume all angular.
+        for (var dofIndex = 0; dofIndex < body.dofCount; dofIndex++)
+        {
+            var jointRotationRads = body.jointPosition[dofIndex];
+            if (m_Settings.jointAngleFunction == ArticulationBodySensorSettings.JointAngleFunction.Ignore)
+            {
+                // Nothing
+            }
+            else if (m_Settings.jointAngleFunction == ArticulationBodySensorSettings.JointAngleFunction.Fmod)
+            {
+                var jointRotationDegs = jointRotationRads * Mathf.Rad2Deg;
+                var rotationFmod = (jointRotationDegs / 360.0f) % 1f;
+                writer[observationIndex++] = rotationFmod;
+            }
+            else if (m_Settings.jointAngleFunction == ArticulationBodySensorSettings.JointAngleFunction.SinCos)
+            {
+                writer[observationIndex++] = Mathf.Sin(jointRotationRads);
+                writer[observationIndex++] = Mathf.Cos(jointRotationRads);
+            }
+        }
+
+        return observationIndex;
+    }
+}
+

Project/Assets/ML-Agents/Examples/SharedAssets/ArticulationBodySensor.cs.meta

+fileFormatVersion: 2
+guid: e14bb25a95194b69987ea4f57e249169
+timeCreated: 1589824795

Project/Assets/ML-Agents/Examples/SharedAssets/ArticulationBodySensorComponent.cs

+using Unity.MLAgents.Sensors;
+using UnityEngine;
+public class ArticulationBodySensorComponent : SensorComponent
+{
+    public ArticulationBody RootBody;
+
+    [SerializeField]
+    public ArticulationBodySensorSettings Settings = new ArticulationBodySensorSettings();
+
+    /// <inheritdoc/>
+    public override ISensor CreateSensor()
+    {
+        return new ArticulationBodySensor(RootBody, Settings);
+    }
+
+    /// <inheritdoc/>
+    public override int[] GetObservationShape()
+    {
+        return new[] { ArticulationBodySensor.GetArticulationSensorSize(RootBody, Settings) };
+    }
+}

Project/Assets/ML-Agents/Examples/SharedAssets/ArticulationBodySensorComponent.cs.meta

+fileFormatVersion: 2
+guid: 4ae1ad4b0c504a2ab52e4dc39d7070af
+timeCreated: 1589824814