From f2a8e0e2ff0cd4236606b9ffbe61430209eea42d Mon Sep 17 00:00:00 2001
From: 8x54zj-m <8x54zj-m@motrixlab.local>
Date: Tue, 30 Jun 2026 15:03:52 +0800
Subject: [PATCH] fix: remove broken feet_air_time override, use base class

---
 .../src/motrix_envs/locomotion/go1/dreamwaq.py        | 11 ++---------
 1 file changed, 2 insertions(+), 9 deletions(-)

diff --git a/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py b/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py
index 1cdac59..766dd55 100644
--- a/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py
+++ b/motrix_envs/src/motrix_envs/locomotion/go1/dreamwaq.py
@@ -547,15 +547,8 @@ class DreamWaQTask(Go1WalkTask):
             # stand_still 在上游被注释掉
         }
 
-    def _reward_feet_air_time(self, commands, info):
-        """足部腾空时间奖励——与上游 legged_robot.py 公式一致。"""
-        first_contact = info.get("first_contact")
-        air_time = info.get("air_time_at_contact")
-        if first_contact is None or air_time is None:
-            return np.zeros(self._num_envs, dtype=np.float32)
-        rew = np.sum((air_time - 0.5) * first_contact, axis=1)
-        rew *= np.linalg.norm(commands[:, :2], axis=1) > 0.1
-        return rew
+    # _reward_feet_air_time 使用基类实现（walk_np.py），
+    # 之前 override 读了不存在的 key 导致 reward 永远为 0
 
     def update_reward(self, state):
         """存储各项奖励到 TensorBoard + 累计 episode 总和。"""