From 53d92c956d6652831fe1010e12ec2775584af81d Mon Sep 17 00:00:00 2001
From: MagDish <2717360869@qq.com>
Date: Wed, 13 Nov 2024 17:06:40 +0800
Subject: [PATCH] new change_target

---
 scripts/gyms/sprint.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/scripts/gyms/sprint.py b/scripts/gyms/sprint.py
index 645d41a..1d45f9f 100644
--- a/scripts/gyms/sprint.py
+++ b/scripts/gyms/sprint.py
@@ -350,9 +350,12 @@ class sprint(gym.Env):
         direction_error = abs(self.walk_rel_orientation)
         direction_error = min(direction_error, 10)
         reward = robot_speed * (1 - direction_error / 10)
+        if np.linalg.norm(r.loc_torso_position[:2] - self.walk_rel_target,ord='fro') < 1:
+            reward += 50
+
         if self.player.behavior.is_ready("Get_Up"):
             self.terminal = True
-        elif w.time_local_ms - self.reset_time > 50000:
+        elif w.time_local_ms - self.reset_time > 40000:
             self.terminal = True
         elif r.loc_torso_position[0] > 14.5:
             self.terminal = True