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walk_rel_orientation
This commit is contained in:
Her-darling 2024-11-16 17:32:06 +08:00
parent 2fd1f8c3ef
commit 5dbbf571d1
1 changed files with 2 additions and 2 deletions
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4
scripts/gyms/Sprint.py
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@ -235,7 +235,7 @@ class sprint(gym.Env):
self.target = np.array([10, 0])
self.walk_rel_target = self.path_manager.get_path_to_target(target=self.target)[0]
self.walk_distance = self.path_manager.get_path_to_target(target=self.target)[2]
self.walk_rel_orientation = self.path_manager.get_path_to_target(target=self.target)[1] - r.imu_torso_orientation
self.walk_rel_orientation = (self.path_manager.get_path_to_target(target=self.target)[1]) * 0.3
for _ in range(25):
self.player.scom.unofficial_beam(self.Gen_player_pos, 0) # beam player continuously (floating above ground)
@ -302,7 +302,7 @@ class sprint(gym.Env):
# self.walk_rel_orientation = M.vector_angle(self.walk_rel_target) * 0.5
self.walk_rel_target = self.path_manager.get_path_to_target(target=self.target)[0]
self.walk_distance = self.path_manager.get_path_to_target(target=self.target)[2]
self.walk_rel_orientation = self.path_manager.get_path_to_target(target=self.target)[1] - r.imu_torso_orientation
self.walk_rel_orientation = (self.path_manager.get_path_to_target(target=self.target)[1] - r.imu_torso_orientation) * 0.3
# exponential moving average
self.act = 0.8 * self.act + 0.2 * action * action_mult * 0.7