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This commit is contained in:
Her-darling 2024-11-13 17:06:40 +08:00
parent 5d235e8255
commit 53d92c956d
1 changed files with 4 additions and 1 deletions
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5
scripts/gyms/sprint.py
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@ -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