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]]