Amend bugs

rl_game/get_up/config/ppo_cfg.yaml

@@ -35,7 +35,7 @@ params:
     normalize_input: True
     normalize_value: True
     value_bootstrap: True
-    num_actors: 16384 # 同时训练的机器人数量
+    num_actors: 8192 # 同时训练的机器人数量
     reward_shaper:
       scale_value: 1.0
     normalize_advantage: True

rl_game/get_up/config/t1_env_cfg.py

@@ -128,11 +128,15 @@ def joint_deviation_l2(env: ManagerBasedRLEnv, asset_cfg: SceneEntityCfg) -> tor
 # --- 2. 配置类 ---
 
 T1_JOINT_NAMES = [
+    # 腿部
     'Left_Hip_Pitch', 'Right_Hip_Pitch', 'Left_Hip_Roll', 'Right_Hip_Roll',
     'Left_Hip_Yaw', 'Right_Hip_Yaw', 'Left_Knee_Pitch', 'Right_Knee_Pitch',
     'Left_Ankle_Pitch', 'Right_Ankle_Pitch', 'Left_Ankle_Roll', 'Right_Ankle_Roll',
-    'AL1', 'AL2', 'AL3',
-    'AR1', 'AR2', 'AR3'
+    # 手臂
+    'Left_Shoulder_Pitch', 'Left_Shoulder_Roll', 'Left_Elbow_Pitch', 'Left_Elbow_Yaw',
+    'Right_Shoulder_Pitch', 'Right_Shoulder_Roll', 'Right_Elbow_Pitch', 'Right_Elbow_Yaw',
+    # 腰部
+    'Waist'
 ]
 
 
@@ -238,16 +242,14 @@ class T1GetUpRewardCfg:
     arm_movement_exploration = RewTerm(
         func=mdp.joint_vel_l2,
         weight=2,  # 权重不要太高，防止变成“风扇”
-        params={"asset_cfg": SceneEntityCfg("robot", joint_names=["AL3", "AR3"])}
+        params={"asset_cfg": SceneEntityCfg("robot",joint_names=["Left_Shoulder.*", "Left_Elbow.*", "Right_Shoulder.*", "Right_Elbow.*"])}
     )
 
     # 8. 手臂位置多样性奖 (离开默认折叠姿态)
     arm_deviation_bonus = RewTerm(
         func=joint_deviation_l2,
         weight=1,
-        params={
-            "asset_cfg": SceneEntityCfg("robot", joint_names=["AL3", "AR3"])
-        }
+        params={"asset_cfg": SceneEntityCfg("robot",joint_names=["Left_Shoulder.*", "Left_Elbow.*", "Right_Shoulder.*", "Right_Elbow.*"])}
     )
 
 @configclass
@@ -272,7 +274,7 @@ class T1GetUpTerminationsCfg:
 
 @configclass
 class T1EnvCfg(ManagerBasedRLEnvCfg):
-    scene = T1SceneCfg(num_envs=16384, env_spacing=2.5)  # 5090 性能全开
+    scene = T1SceneCfg(num_envs=8192, env_spacing=2.5)  # 5090 性能全开
 
     def __post_init__(self):
         super().__post_init__()