Questions about DirectRLEnv

[Huisouan]

I have set up a reinforcement learning environment for the Unitree Go2 using a direct reinforcement learning environment. However, during the training process, the robot's movements appear very stiff, as if its joints are stuck, and the reward values are consistently hovering in the single digits. When I switched the environment to CartPole, the model's reward values increased normally. Can someone help me check the issues in my environment?

https://github.com/Huisouan/isaac-lab-vqvae/blob/master/source/vqvae/vqvae/tasks/direct/GO2/go2_pmc_env.py