Always trigger auto reset when moving to a new point

[jc-bao]

[jc-bao]

:wrench: Trail reward engineering: penalty large roll/yaw angle

fine sim	dummy sim

👀 Results hovering at a fixed point far away from the target position. Tracking error = 18cm.

🤔 Possible reason

• too large a velocity penalty. ◀️ try this first.
• wrong dynamic.

[jc-bao]

🔧 Trail Remove the velocity penalty and try again.

👀 Results Now tracking performance is much better. Tracking error = 2cm.

[jc-bao]

🤗 Summary

• Aggressive angle ▶️ auto reset
• Always hit boundary lead auto reset ▶️ reward engineering for large angle.
• Hovering at a fixed point far away from the goal ▶️ reward engineering with velocity penalty.