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Fix reward function logic in direct locomotion environments #19

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Fix reward function logic in direct locomotion environments #19

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Copilot Sep 23, 2025
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Fix reward function logic in locomotion environment
Copilot Sep 23, 2025
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9 changes: 4 additions & 5 deletions source/isaaclab_tasks/isaaclab_tasks/direct/locomotion/locomotion_env.py
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Original file line number Diff line number Diff line change
Expand Up @@ -193,12 +193,11 @@ def compute_rewards(
alive_reward_scale: float,
motor_effort_ratio: torch.Tensor,
):
heading_weight_tensor = torch.ones_like(heading_proj) * heading_weight
heading_reward = torch.where(heading_proj > 0.8, heading_weight_tensor, heading_weight * heading_proj / 0.8)
# reward for moving in the right direction (heading towards target)
heading_reward = torch.where(heading_proj > 0.8, heading_weight, heading_weight * heading_proj / 0.8)

# aligning up axis of robot and environment
up_reward = torch.zeros_like(heading_reward)
up_reward = torch.where(up_proj > 0.93, up_reward + up_weight, up_reward)
# aligning up axis of robot and environment (upright posture)
up_reward = torch.where(up_proj > 0.93, up_weight, 0.0)

# energy penalty for movement
actions_cost = torch.sum(actions**2, dim=-1)
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