new demo

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