def getReward(self):
Environment.getReward(self)
angle = abs(self.sensors[0])
s = abs(self.sensors[2])
reward = 0
if angle < 0.05 and (s < 0.05 or not self.centerCart):
reward = +2.
elif angle > 0.7 or s > 2.4:
reward = 0.
else:
if self.centerCart:
reward = max(+1., 2*(1.-s))
else:
reward = +1.
return reward
