new generate_random_target

scripts/gyms/Sprint.py

@@ -283,15 +283,16 @@ class sprint(gym.Env):
         self.player.terminate()
 
 
-    def generate_random_target(self, position, x_range=(-15, 15), y_range=(-10, 10)):
+    def generate_random_target(self, position):
         while True:
-            x = np.random.uniform(x_range[0], x_range[1])
-            y = np.random.uniform(y_range[0], y_range[1])
-
-            if np.linalg.norm(np.array([x, y]) - position) >= 10:
+            angle = np.random.uniform(0, 2 * np.pi)
+            X = position[0] * 10 * np.cos(angle)
+            Y = position[1] * 10 * np.sin(angle)
+            if -13 <= X <= 13 and -8 <= Y <= 8:
                 break
 
-        self.walk_target = np.array([x, y])
+        self.walk_target = np.array([X, Y])
+
     def step(self, action):
 
         r = (self.
@@ -303,7 +304,7 @@ class sprint(gym.Env):
         self.walk_rel_target = M.rotate_2d_vec(
             (self.walk_target[0] - r.loc_head_position[0], self.walk_target[1] - r.loc_head_position[1]), -r.imu_torso_orientation)
         self.walk_distance = np.linalg.norm(self.walk_target - r.loc_head_position[:2])
-        if self.walk_distance <= 0.5:
+        if self.walk_distance <= 0.3:
             self.generate_random_target(r.loc_head_position[:2])
             self.walk_rel_target = M.rotate_2d_vec(
                 (self.walk_target[0] - r.loc_head_position[0], self.walk_target[1] - r.loc_head_position[1]),
@@ -344,12 +345,14 @@ class sprint(gym.Env):
         robot_speed = np.linalg.norm(r.loc_torso_velocity[:2])
         direction_error = abs(self.walk_rel_orientation)
         direction_error = min(direction_error, 10)
-        reward = robot_speed**2 * (1 - direction_error / 10) * 0.2
-        if self.walk_distance < 0.5:
+        reward = robot_speed * (1 - direction_error / 10) * 0.02
+        if self.walk_distance < 0.3:
             reward += 10
 
         if self.player.behavior.is_ready("Get_Up"):
             self.terminal = True
+        elif w.time_local_ms - self.reset_time > 15000 * 2:
+            self.terminal = True
         else:
             self.terminal = False
         return obs, reward, self.terminal, {}