v1.1.4; Add ZMP margin metric

2026-03-23 11:24:00 +08:00
parent be054d02b0
commit fe35afea22
17 changed files with 782 additions and 19 deletions
--- a/README.md
+++ b/README.md
@@ -133,6 +133,7 @@ Supported per-step metrics (measured after each `env.step`). **All metrics are n
 | 4 | `dof_power` | Motor energy consumption | Scaling factor | 100 | `1-x` |
 | 5 | `orientation_stability` | Body orientation stability (Roll) | NA | NA | `1-x` |
 | 6 | `torque_smoothness` | Torque smoothness | Scaling factor | 30 | `1-x` |
+| 7 | `zmp_margin` | ZMP margin | NA | Default diagonal foot distance | `1-x` |

 ### Velocity-Tracking Targets