new

scripts/gyms/sprint.py

@@ -282,17 +282,17 @@ class sprint(gym.Env):
         Draw.clear_all()
         self.player.terminate()
 
+
     def generate_random_target(self, x_range=(-12, 12), y_range=(-9, 9)):
+        while True:
+            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]) >= 10:
+                if abs(x) > 15 or abs(y) > 10:
+                    continue
+                break
 
-        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
-        x = np.clip(x, -15, 15)
-        y = np.clip(y, -15, 15)
         self.walk_target = np.array([x, y])
     def step(self, action):
 
@@ -342,7 +342,7 @@ 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 * (1.5 - direction_error / 10)
+        reward = robot_speed * (1 - direction_error / 10)
         if self.walk_distance < 0.5:
             reward += 20
             self.generate_random_target()