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new demo

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Her-darling 2024-11-24 18:51:48 +08:00
parent ce9d7d6c60
commit 09b23b6fbc
1 changed files with 3 additions and 3 deletions
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6
scripts/gyms/sprint_demo.py
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@ -43,8 +43,8 @@ class sprint(gym.Env):
self.ik = self.player.inv_kinematics
# Step behavior defaults
self.STEP_DUR = 10
self.STEP_Z_SPAN = 0.4
self.STEP_DUR = 8
self.STEP_Z_SPAN = 0.3
self.STEP_Z_MAX = 0.8
nao_specs = self.ik.NAO_SPECS
self.leg_length = nao_specs[1] + nao_specs[3] # upper leg height + lower leg height
@ -145,7 +145,7 @@ class sprint(gym.Env):
Create internal target with a smoother variation
'''
MAX_LINEAR_DIST = 0.5
MAX_LINEAR_DIST = 1
MAX_LINEAR_DIFF = 0.014 # max difference (meters) per step
MAX_ROTATION_DIFF = 1.6 # max difference (degrees) per step
MAX_ROTATION_DIST = 45