From c664e7422f44eabd214a9e6056a7897c6ec02aca Mon Sep 17 00:00:00 2001
From: 8x54zj-m <8x54zj-m@motrixlab.local>
Date: Thu, 2 Jul 2026 10:53:17 +0800
Subject: [PATCH] =?UTF-8?q?6level=EF=BC=8C=E4=BD=86=E6=98=AF=E8=A1=A8?=
 =?UTF-8?q?=E7=8E=B0=E4=B8=80=E8=88=AC?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py b/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py
index c3086fe..c1da422 100644
--- a/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py
+++ b/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py
@@ -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 = 5  # 先 0-3，适应后再提到 5
+            self._max_init_level = 0  # 上游原值
 
         if num_reset > 0 and self._init_done and state is not None and hasattr(state, 'info'):
             old_info = state.info
@@ -439,7 +439,7 @@ class DreamWaQTask(Go1WalkTask):
             base_pose = self._body.get_pose(state.data)
             base_pos = base_pose[done, :2]
             distance = np.linalg.norm(base_pos - old_origins, axis=1)
-            move_up = distance > 3.0  # 走过去 3m 就升级（上游是 4m）
+            move_up = distance > 3.0
             cmd_speed = np.linalg.norm(old_commands[:, :2], axis=1)
             required_dist = cmd_speed * (self.cfg.max_episode_steps * self.cfg.ctrl_dt) * 0.5
             move_down = (distance < required_dist) & ~move_up