94 lines
3.1 KiB
Python
94 lines
3.1 KiB
Python
|
from isaaclab.envs import ManagerBasedRLEnvCfg
|
|||
|
|
from isaaclab.managers import ObservationGroupCfg as ObsGroup
|
|||
|
|
from isaaclab.managers import ObservationTermCfg as ObsTerm
|
|||
|
|
from isaaclab.managers import RewardTermCfg as RewTerm
|
|||
|
|
from isaaclab.managers import TerminationTermCfg as DoneTerm
|
|||
|
|
from isaaclab.envs.mdp import JointPositionActionCfg
|
|||
|
|
import isaaclab.envs.mdp as mdp
|
|||
|
|
from isaaclab.utils import configclass
|
|||
|
|
from rl_game.demo.env.t1_env import T1SceneCfg
|
|||
|
|
|
|||
|
|
@configclass
|
|||
|
|
class T1ObservationCfg:
|
|||
|
|
"""观察值空间配置容器"""
|
|||
|
|
|
|||
|
|
@configclass
|
|||
|
|
class PolicyCfg(ObsGroup):
|
|||
|
|
concatenate_terms = True
|
|||
|
|
enable_corruption = False
|
|||
|
|
|
|||
|
|
# ⬅️ 2. 修改点：直接使用 mdp.函数名，不要引号
|
|||
|
|
base_lin_vel = ObsTerm(func=mdp.base_lin_vel)
|
|||
|
|
base_ang_vel = ObsTerm(func=mdp.base_ang_vel)
|
|||
|
|
projected_gravity = ObsTerm(func=mdp.projected_gravity)
|
|||
|
|
joint_pos = ObsTerm(func=mdp.joint_pos_rel)
|
|||
|
|
joint_vel = ObsTerm(func=mdp.joint_vel_rel)
|
|||
|
|
actions = ObsTerm(func=mdp.last_action)
|
|||
|
|
|
|||
|
|
policy = PolicyCfg()
|
|||
|
|
|
|||
|
|
@configclass
|
|||
|
|
class T1ActionCfg:
|
|||
|
|
"""动作空间配置"""
|
|||
|
|
joint_pos = JointPositionActionCfg(
|
|||
|
|
asset_name="robot", # 注意这里是 asset_name，对应场景里的机器人名称
|
|||
|
|
joint_names=[".*"], # 控制所有关节
|
|||
|
|
scale=0.5, # 缩放网络输出
|
|||
|
|
use_default_offset=True # 动作是相对于默认关节角度(init_state里的0)的偏移
|
|||
|
|
)
|
|||
|
|
|
|||
|
|
@configclass
|
|||
|
|
class T1TerminationsCfg:
|
|||
|
|
"""终止条件：什么时候重置环境"""
|
|||
|
|
# 1. 摔倒重置：如果躯干高度低于 0.35米 (假设 T1 胯部在 0.7米)
|
|||
|
|
base_height_too_low = DoneTerm(
|
|||
|
|
func=mdp.root_height_below_minimum,
|
|||
|
|
params={"minimum_height": 0.35},
|
|||
|
|
)
|
|||
|
|
# 2. 存活时间限制 (Timeout)
|
|||
|
|
time_out = DoneTerm(func=mdp.time_out)
|
|||
|
|
|
|||
|
|
@configclass
|
|||
|
|
class T1CommandsCfg:
|
|||
|
|
"""命令配置：定义机器人的目标速度"""
|
|||
|
|
base_velocity = mdp.UniformVelocityCommandCfg(
|
|||
|
|
asset_name="robot",
|
|||
|
|
resampling_time_range=(10.0, 10.0),
|
|||
|
|
ranges=mdp.UniformVelocityCommandCfg.Ranges(
|
|||
|
|
lin_vel_x=(0.5, 1.5),
|
|||
|
|
lin_vel_y=(0.0, 0.0),
|
|||
|
|
ang_vel_z=(-0.1, 0.1),
|
|||
|
|
),
|
|||
|
|
)
|
|||
|
|
|
|||
|
|
@configclass
|
|||
|
|
class T1RewardCfg:
|
|||
|
|
"""奖励函数配置：鼓励向前走，惩罚摔倒和过大能耗"""
|
|||
|
|
# 速度追踪奖励 (假设目标是沿 X 轴走)
|
|||
|
|
track_lin_vel_xy_exp = RewTerm(
|
|||
|
|
func=mdp.track_lin_vel_xy_exp,
|
|||
|
|
weight=1.0,
|
|||
|
|
params={
|
|||
|
|
"std": 0.5,
|
|||
|
|
"command_name": "base_velocity"
|
|||
|
|
}
|
|||
|
|
)
|
|||
|
|
# 姿态惩罚 (保持上半身直立)
|
|||
|
|
upright = RewTerm(func=mdp.flat_orientation_l2, weight=0.1)
|
|||
|
|
# 动作平滑惩罚
|
|||
|
|
action_rate_l2 = RewTerm(func=mdp.action_rate_l2, weight=-0.01)
|
|||
|
|
|
|||
|
|
@configclass
|
|||
|
|
class T1EnvCfg(ManagerBasedRLEnvCfg):
|
|||
|
|
"""主环境配置"""
|
|||
|
|
# 场景设置
|
|||
|
|
scene = T1SceneCfg(num_envs=16384, env_spacing=2.5)
|
|||
|
|
# 观察与奖励
|
|||
|
|
observations = T1ObservationCfg()
|
|||
|
|
rewards = T1RewardCfg()
|
|||
|
|
terminations = T1TerminationsCfg()
|
|||
|
|
actions = T1ActionCfg()
|
|||
|
|
commands = T1CommandsCfg()
|
|||
|
|
episode_length_s = 20.0
|
|||
|
|
# 默认步长
|
|||
|
|
decimation = 6 # 仿真频率/控制频率
|