From 09b23b6fbc3b8c3c73143092665232416da80b01 Mon Sep 17 00:00:00 2001
From: MagDish <2717360869@qq.com>
Date: Sun, 24 Nov 2024 18:51:48 +0800
Subject: [PATCH] new demo

---
 scripts/gyms/sprint_demo.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/scripts/gyms/sprint_demo.py b/scripts/gyms/sprint_demo.py
index 1d86d3f..87a8676 100644
--- a/scripts/gyms/sprint_demo.py
+++ b/scripts/gyms/sprint_demo.py
@@ -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