Apollo3D/Gym_GPU
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Amend bugs

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ChenXi
2026-03-22 02:20:17 -04:00
parent a8199fd056
commit f7c8e6e325
1 changed files with 1 additions and 1 deletions
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2
rl_game/get_up/config/t1_env_cfg.py
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@@ -226,7 +226,7 @@ class T1GetUpRewardCfg:
# 3. 手臂撑地奖：辅助脱离地面阶段 # 3. 手臂撑地奖：辅助脱离地面阶段
arm_push_support = RewTerm( 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 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={ params={
"sensor_cfg": SceneEntityCfg("contact_sensor", body_names=[".*_hand_link", "AL3", "AR3"]), "sensor_cfg": SceneEntityCfg("contact_sensor", body_names=[".*_hand_link", "AL3", "AR3"]),