def _signal_reset(self):
"""Reset the environment."""
self._tv = 0.0
self._rv = 0.0
robot.setSpeed(self._tv, self._rv, self._dt, False)
robot.stage_setpose(*self._start_pose)
robot.wait(0.5)
def _action_turn1(self):
self._rv += 0.1
self._saturate_velocities()
return robot.setSpeed(self._tv, self._rv, self._dt, False)
def _actoin_noop(self):
return robot.setSpeed(self._tv, self._rv, self._dt, False)
def _action_reduce_angle_speed(self):
self._rv /= 2.0
return robot.setSpeed(self._tv, self._rv, self._dt, False)