text: of its current position. This was implemented by letting the probability of transitioning to a 
  location be 1 for the location corresponding to the action chosen: 
  (cid:7)  (cid:4) 
  
  # Set transition probabilities to 1 for the chosen location 
  # For action " Move to Center Location " 
  B[1][:,:,1] = [ 1 .0 
  0 .0 
  0 .0 
  0 .0  1 .0 
  0 .0 
  0 .0 
  0 .0  1 .0 
  0 .0 
  0 .0 
  0 .0  1 .0 
  0 .0 
  0 .0 
  0 .0 ] 
  
  # For action " Move to Right Arm " 
  B[1][:,:,2] = [ 0 .0 
  1 .0 
  0 .0 
  0 .0  0 .0 
  1 .0 
  0 .0 
  0 .0  0 .0 
  1 .0 
  0 .0 
  0 .0  0 .0 
  1 .0 
  0 .0 
  0 .0 ] 
  
  # For action " Move to Left Arm " 
  B[1][:,:,3] = [ 0 .0 
  0 .0 
  1 .0 
  0 .0  0 .0 
  0 .0 
  1 .0 
  0 .0  0 .0 
  0 .0 
  1 .0 
  0 .0  0 .0 
  0 .0 
  1 .0 
  0 .0 ] 