MagDish/Dribble
0
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

new

Browse Source
This commit is contained in:
Her-darling 2024-11-13 20:02:07 +08:00
parent a5a55c10b7
commit 8dd76d0494
1 changed files with 3 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
scripts/gyms/sprint.py
View File

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