Higher Height penalty

falling behavior was slightly positiv
therefore the penatly was increased again

ml/env.py

@@ -85,8 +85,8 @@ class JackBotEnv(gym.Env):
         self.curriculum_episode_limit = 150
         self.curriculum_stage_requirements = {
             1: {"survival_steps": 200, "distance": 0.00, "stability_roll_pitch": 0.35},
-            2: {"survival_steps": 350, "distance": 0.50, "stability_roll_pitch": 0.30},
-            3: {"survival_steps": 550, "distance": 0.80, "stability_roll_pitch": 0.25},
+            2: {"survival_steps": 350, "distance": 10.0, "stability_roll_pitch": 0.30},
+            3: {"survival_steps": 550, "distance": 15.00, "stability_roll_pitch": 0.25},
         }
 
         # Floating HUD & Leader Crown Visualizers
@@ -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