Add weighting function, change the reward logic

2026-03-22 21:11:46 -04:00
parent a642274fa6
commit 7f7ec781c5
4 changed files with 84 additions and 104 deletions
--- a/rl_game/get_up/env/t1_env.py
+++ b/rl_game/get_up/env/t1_env.py
@@ -51,10 +51,10 @@ class T1SceneCfg(InteractiveSceneCfg):
        actuators={
            "t1_joints": ImplicitActuatorCfg(
                joint_names_expr=[".*"],
-                effort_limit=400.0,
+                effort_limit=800.0,  # 翻倍，确保电机有力气
                velocity_limit=20.0,
-                stiffness=150.0,
-                damping=5.0,
+                stiffness=500.0,  # 【关键】从 150 提到 500-800 之间
+                damping=40.0,  # 【关键】从 5 提到 30-50 之间，抑制乱抖
            ),
        },
    )