new

scripts/gyms/sprint.py

@@ -286,7 +286,11 @@ class sprint(gym.Env):
 
         x = np.random.uniform(x_range[0], x_range[1])
         y = np.random.uniform(y_range[0], y_range[1])
-
+        if np.linalg.norm(np.array([x, y]) - self.Gen_player_pos[:2]) < 5:
+            dir_x = (x - self.Gen_player_pos[0]) / abs (x - self.Gen_player_pos[0])
+            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
         self.walk_target = np.array([x, y])
     def step(self, action):
 
@@ -336,7 +340,7 @@ class sprint(gym.Env):
         robot_speed = r.loc_torso_velocity[0]
         direction_error = abs(self.walk_rel_orientation)
         direction_error = min(direction_error, 10)
-        reward = robot_speed * (3 - 0.5 * direction_error / 10)
+        reward = robot_speed * (1.5 - direction_error / 10)
         if self.walk_distance < 1:
             reward += 20
             self.generate_random_target()