Resolved Reset enviroment

I am training multiple agents with the same brain. When they reach the goal, all of them has to restart, however if I call EndEpisode() method only the agent that did called this method will restart.
I want to find a way that whenever an agent call the EndEpisode() method all the other agents also restart. I have found this thread where they talk about it: https://forum.unity.com/threads/resetting-environment.876439/
I also read the documentation of how

Code (CSharp):

1. Academy.Instance.OnEnvironmentReset += ResetMethod

works, but I did not understand it. How do I implement this Academy.Instance.OnEnvironmentReset, what do I write in the ResetMethod?

 

If you just need to reset your agents, you could handle that in a central agent controller script. Similar to the DecisionRequester component, but not attached to any specific agent instance. Something like this:

Code (CSharp):

1. using Unity.MLAgents;
2. using UnityEngine;
3.  
4. public class AgentController : MonoBehaviour
5. {
6.     private MyAgent[] agents;
7.  
8.     private void Awake()
9.     {
10.         agents = FindObjectsOfType<MyAgent>();
11.         Academy.Instance.AgentPreStep += OnAgentPreStep;
12.     }
13.  
14.     private void OnDestroy()
15.     {
16.         if (Academy.IsInitialized)
17.         {
18.             Academy.Instance.AgentPreStep -= OnAgentPreStep;
19.         }
20.     }
21.  
22.     private void OnAgentPreStep(int academyStepCount)
23.     {
24.         bool resetAll = false;
25.  
26.         foreach (MyAgent agent in agents)
27.         {
28.             resetAll = resetAll || agent.MustReset; // your custom reset bool
29.         }
30.  
31.         foreach (MyAgent agent in agents)
32.         {
33.             if (resetAll)
34.             {
35.                 agent.EndEpisode();
36.             }
37.             else
38.             {
39.                 agent.RequestDecision();
40.             }
41.         }
42.     }
43. }