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Update quadx_waypoints_env.py #81

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NishantChandna1403 wants to merge 1 commit into from
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Update quadx_waypoints_env.py #81

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3 changes: 3 additions & 0 deletions PyFlyt/gym_envs/quadx_envs/quadx_waypoints_env.py
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Original file line number Diff line number Diff line change
Expand Up @@ -182,6 +182,9 @@ def compute_term_trunc_reward(self) -> None:
if not self.sparse_reward:
self.reward += max(3.0 * self.waypoints.progress_to_next_target, 0.0)
self.reward += 0.1 / self.waypoints.distance_to_next_target
yaw_rate = abs(self.env.state(0)[0][2]) # Assuming z-axis is the last component
yaw_rate_penalty = 0.01 * yaw_rate**2# Add penalty for high yaw rate
self.reward -= yaw_rate_penalty # You can adjust the coefficient (0.01) as needed
Comment on lines +185 to +187
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@jjshoots jjshoots Feb 28, 2025

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This should be placed in the above if not self.sparse_reward conditional.


# target reached
if self.waypoints.target_reached:
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