new change_target

scripts/gyms/sprint.py

@@ -350,9 +350,12 @@ class sprint(gym.Env):
         direction_error = abs(self.walk_rel_orientation)
         direction_error = min(direction_error, 10)
         reward = robot_speed * (1 - direction_error / 10)
+        if np.linalg.norm(r.loc_torso_position[:2] - self.walk_rel_target,ord='fro') < 1:
+            reward += 50
+
         if self.player.behavior.is_ready("Get_Up"):
             self.terminal = True
-        elif w.time_local_ms - self.reset_time > 50000:
+        elif w.time_local_ms - self.reset_time > 40000:
             self.terminal = True
         elif r.loc_torso_position[0] > 14.5:
             self.terminal = True