new_

walk_rel_orientation

scripts/gyms/Sprint.py

@@ -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