Question Reset a game

Hello,

I want to train an agent to move a machine, and as with each ml-agent project, the environment need to get reset after each episode. The problem with my program is that my machine is connected via joints so I can't just reset the transform.position of each part of the machine.

Is there a simple and easy way that allows me to instantly reset the environment ( as if I would reload the scene ) ?

 

So far I have the machine go back to it's initial position manually but it takes at least 5 seconds, during which the agent has already started it's new episode and I believe that this messes with the training

 

have you tried iterating calls to Physics.Simulate() a few times, after applying forces to the joints for reset, but before returning from your reset function?