From f7c8e6e32508747aedd3e6217e6a95ef3d26901b Mon Sep 17 00:00:00 2001 From: ChenXi Date: Sun, 22 Mar 2026 02:20:17 -0400 Subject: [PATCH] Amend bugs --- rl_game/get_up/config/t1_env_cfg.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rl_game/get_up/config/t1_env_cfg.py b/rl_game/get_up/config/t1_env_cfg.py index be7a601..8abe31b 100644 --- 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"]),