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

new demo

Browse Source
This commit is contained in:
Her-darling 2024-11-24 18:51:48 +08:00
parent ce9d7d6c60
commit 09b23b6fbc
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
scripts/gyms/sprint_demo.py
View File

@ -43,8 +43,8 @@ class sprint(gym.Env):
self.ik = self.player.inv_kinematics self.ik = self.player.inv_kinematics
# Step behavior defaults # Step behavior defaults
self.STEP_DUR = 10 self.STEP_DUR = 8
self.STEP_Z_SPAN = 0.4 self.STEP_Z_SPAN = 0.3
self.STEP_Z_MAX = 0.8 self.STEP_Z_MAX = 0.8
nao_specs = self.ik.NAO_SPECS nao_specs = self.ik.NAO_SPECS
self.leg_length = nao_specs[1] + nao_specs[3] # upper leg height + lower leg height 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 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_LINEAR_DIFF = 0.014 # max difference (meters) per step
MAX_ROTATION_DIFF = 1.6 # max difference (degrees) per step MAX_ROTATION_DIFF = 1.6 # max difference (degrees) per step
MAX_ROTATION_DIST = 45 MAX_ROTATION_DIST = 45