Amend reward

scripts/gyms/Dribble_init.py

@@ -311,8 +311,15 @@ class dribble(gym.Env):
         # 计算奖励
         reward = np.linalg.norm(w.ball_cheat_abs_vel) * cos_theta
 
-        if self.ball_dist_hip_center_2d < 0.05 or self.ball_dist_hip_center > 0.25:
+        if abs(w.ball_rel_torso_cart_pos[1]) > 0.02:
             reward = 0
+
+        if self.ball_dist_hip_center_2d < 0.115 or self.ball_dist_hip_center_2d > 0.2:
+            reward = 0
+
+        if abs(r.imu_torso_roll) > 10 or abs(r.imu_torso_pitch) > 10:
+            reward = 0
+
         # 判断终止
         if self.player.behavior.is_ready("Get_Up"):
             self.terminal = True