I made the agents to carry items to a given direction by pushing them.
This is a trick to be carried out in verb learning experiments.
I thought I'd use reinforcement learning to make them do the trick and tried to use PyBrain, but failed to use it without learning the cause. I got back to the old-fashioned programming and fixed the trick while keenly feeling my lack of sense in geometry. The agent first goes to the opposite side around the item against the carrying direction, start pushing, and adjusts the direction when the item veers.
The simulator was made with V-Rep and python.
The code is found on GitHub (Version 1 snapshot: 2016-06-13).