Amend bugs

2026-03-22 02:20:17 -04:00
parent a8199fd056
commit f7c8e6e325
1 changed files with 1 additions and 1 deletions
--- a/rl_game/get_up/config/t1_env_cfg.py
+++ b/rl_game/get_up/config/t1_env_cfg.py
@@ -226,7 +226,7 @@ class T1GetUpRewardCfg:

    # 3. 手臂撑地奖：辅助脱离地面阶段
    arm_push_support = RewTerm(
-        func=arm_push_up_reward,
+        func=universal_arm_support_reward,
        weight=20.0,  # 显著增加权重（从 3.0 提到 15.0），让它成为起步的关键
        params={
            "sensor_cfg": SceneEntityCfg("contact_sensor", body_names=[".*_hand_link", "AL3", "AR3"]),