diff --git a/ml/env.py b/ml/env.py
index 3a5594a..f78a396 100644
--- a/ml/env.py
+++ b/ml/env.py
@@ -416,7 +416,7 @@ class JackBotEnv(gym.Env):
             # -------------------------------------------------------------
             # 4. POSTURE & STABILITY PENALTIES
             # -------------------------------------------------------------
-            height_penalty = 4.0 * ((self.target_height - pos[2]) ** 2) if pos[2] < self.target_height else 0.0
+            height_penalty = 6.0 * ((self.target_height - pos[2]) ** 2) if pos[2] < self.target_height else 0.0
             stability_penalty = 1.5 * (roll**2 + pitch**2)
 
             # Penalize only large control jumps; allow continuous low-amplitude motion