|
|
|
@ -342,9 +342,9 @@ class sprint(gym.Env):
|
|
|
|
robot_speed = r.loc_torso_velocity[0]
|
|
|
|
robot_speed = r.loc_torso_velocity[0]
|
|
|
|
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 - direction_error / 10)
|
|
|
|
reward = robot_speed * (1.5 - direction_error / 10)
|
|
|
|
if self.walk_distance < 0.5:
|
|
|
|
if self.walk_distance < 0.5:
|
|
|
|
reward += 20
|
|
|
|
reward += 10
|
|
|
|
self.generate_random_target()
|
|
|
|
self.generate_random_target()
|
|
|
|
|
|
|
|
|
|
|
|
if self.player.behavior.is_ready("Get_Up"):
|
|
|
|
if self.player.behavior.is_ready("Get_Up"):
|
|
|
|
|
