Reward Function

[RiyaPahwa]

Kindly explain the Reward Function used in this code. How is the reward calculated for angular movements?

[ROBOTIS-Will]

@RiyaPahwa The Reward Function in the code is calculated with multiplication of the Angular Reward Function by Distance Reward Function. The Angular Reward Function is based on a trigonometric function to get a value between -1 to 1. Thank you.