Add weighting function, change the reward logic

rl_game/get_up/train.py

@@ -9,7 +9,7 @@ from isaaclab.app import AppLauncher
 
 # 1. 配置启动参数
 parser = argparse.ArgumentParser(description="Train T1 robot to Get-Up with RL-Games.")
-parser.add_argument("--num_envs", type=int, default=16384, help="起身任务建议并行 4096 即可")
+parser.add_argument("--num_envs", type=int, default=8192, help="起身任务建议并行 4096 即可")
 parser.add_argument("--task", type=str, default="Isaac-T1-GetUp-v0", help="任务 ID")
 parser.add_argument("--seed", type=int, default=42, help="随机种子")
 AppLauncher.add_app_launcher_args(parser)