crawler.py 文件源码

def reset(self):
       """
        Resets the Environment to the initial state
       """
       ## Initialize the state to be the middle
       ## value for each parameter e.g. if there are 13 and 19
       ## buckets for the arm and hand parameters, then the intial
       ## state should be (6,9)
       ##
       ## Also call self.crawlingRobot.setAngles()
       ## to the initial arm and hand angle

       armState = self.nArmStates/2
       handState = self.nHandStates/2
       self.state = armState,handState
       self.crawlingRobot.setAngles(self.armBuckets[armState],self.handBuckets[handState])
       self.crawlingRobot.positions = [20,self.crawlingRobot.getRobotPosition()[0]]