new

scripts/gyms/sprint.py

@@ -291,6 +291,8 @@ class sprint(gym.Env):
             dir_y = (y - self.Gen_player_pos[1]) / abs (y - self.Gen_player_pos[1])
             x = x + 5 * dir_x
             y = y + 5 * dir_y
+        x = np.clip(x, -15, 15)
+        y = np.clip(y, -15, 15)
         self.walk_target = np.array([x, y])
     def step(self, action):
 
@@ -341,7 +343,7 @@ class sprint(gym.Env):
         direction_error = abs(self.walk_rel_orientation)
         direction_error = min(direction_error, 10)
         reward = robot_speed * (1.5 - direction_error / 10)
-        if self.walk_distance < 1:
+        if self.walk_distance < 0.5:
             reward += 20
             self.generate_random_target()