MagDish/Dribble
0
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

change_target

Browse Source
This commit is contained in:
Her-darling 2024-11-12 21:31:34 +08:00
parent 4783109d36
commit 04db2da70c
1 changed files with 11 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
scripts/gyms/sprint.py
View File

@ -280,12 +280,16 @@ class sprint(gym.Env):
self.player.terminate() self.player.terminate()
def change_target(self): def change_target(self):
# 生成一个 -10 到 +10 度之间的随机角度 original_angle = M.vector_angle(self.walk_rel_target)
orientations = random.choice([-1, 1]) random_angle_delta = np.random.uniform(-10, 10)
random_target = orientations * 10 # 单位是度 new_angle = (original_angle + np.radians(random_angle_delta)) * 3 * math.sin(time.time())
self.walk_rel_target = (15, random_target) new_walk_rel_target = np.array([
np.cos(new_angle) * self.walk_distance,
np.sin(new_angle) * self.walk_distance
])
self.walk_rel_target = new_walk_rel_target
def step(self, action): def step(self, action):
@ -294,7 +298,7 @@ class sprint(gym.Env):
w = self.player.world w = self.player.world
current_time = time.time() current_time = time.time()
if current_time - self.last_target_update_time > 0.8: if current_time - self.last_target_update_time > 0.6:
self.change_target() self.change_target()
self.last_target_update_time = current_time self.last_target_update_time = current_time
@ -342,19 +346,16 @@ class sprint(gym.Env):
reward = robot_speed * (1 - direction_error / 10) reward = robot_speed * (1 - direction_error / 10)
if self.player.behavior.is_ready("Get_Up"): if self.player.behavior.is_ready("Get_Up"):
self.terminal = True self.terminal = True
elif w.time_local_ms - self.reset_time > 30000:
elif w.time_local_ms - self.reset_time > 10000 * 2:
self.terminal = True self.terminal = True
elif r.loc_torso_position[0] > 14.5: elif r.loc_torso_position[0] > 14.5:
self.terminal = True self.terminal = True
reward += 500 reward += 500
elif r.loc_torso_position[0] > 0: elif r.loc_torso_position[0] > 0:
reward += r.loc_torso_position[0] * 10 reward += 3 * r.loc_torso_position[0]
else: else:
self.terminal = False self.terminal = False
return obs, reward, self.terminal, {} return obs, reward, self.terminal, {}
class Train(Train_Base): class Train(Train_Base):
def __init__(self, script) -> None: def __init__(self, script) -> None:
super().__init__(script) super().__init__(script)