微调参数

motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py

@@ -118,8 +118,8 @@ class DreamWaQCfg(Go1WalkNpEnvCfg):
         r = self.reward_config.scales
         r.clear()
         r.update({
-            "tracking_lin_vel": 1.0,
-            "tracking_ang_vel": 0.5,
+            "tracking_lin_vel": 1.5,
+            "tracking_ang_vel": 1.0,
             "lin_vel_z": -2.0,
             "ang_vel_xy": -0.05,
             "orientation": -0.2,
@@ -429,7 +429,7 @@ class DreamWaQTask(Go1WalkTask):
                     cy = half_y - self._border - row * self._cell_size - self._cell_size / 2
                     all_origins[row, col] = [cx, cy]
             self._terrain_origins = all_origins
-            self._max_init_level = 3  # 先 0-3，适应后再提到 5
+            self._max_init_level = 5  # 先 0-3，适应后再提到 5
 
         if num_reset > 0 and self._init_done and state is not None and hasattr(state, 'info'):
             old_info = state.info