From 9d2e001ea4c314f27536beaf7e89d99024012b26 Mon Sep 17 00:00:00 2001 From: JackM323 Date: Mon, 3 Aug 2026 22:52:13 +0200 Subject: [PATCH] Higher Height penalty falling behavior was slightly positiv therefore the penatly was increased again --- ml/env.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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