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Amend bugs

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This commit is contained in:
ChenXi
2026-03-22 00:01:21 -04:00
parent 905e998596
commit 0e70d34e81
2 changed files with 10 additions and 8 deletions
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2
rl_game/get_up/config/ppo_cfg.yaml
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@@ -35,7 +35,7 @@ params:
normalize_input: True normalize_input: True
normalize_value: True normalize_value: True
value_bootstrap: 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: reward_shaper:
scale_value: 1.0 scale_value: 1.0
normalize_advantage: True normalize_advantage: True

16
rl_game/get_up/config/t1_env_cfg.py
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@@ -128,11 +128,15 @@ def joint_deviation_l2(env: ManagerBasedRLEnv, asset_cfg: SceneEntityCfg) -> tor
# --- 2. 配置类 --- # --- 2. 配置类 ---
T1_JOINT_NAMES = [ T1_JOINT_NAMES = [
# 腿部
'Left_Hip_Pitch', 'Right_Hip_Pitch', 'Left_Hip_Roll', 'Right_Hip_Roll', '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_Hip_Yaw', 'Right_Hip_Yaw', 'Left_Knee_Pitch', 'Right_Knee_Pitch',
'Left_Ankle_Pitch', 'Right_Ankle_Pitch', 'Left_Ankle_Roll', 'Right_Ankle_Roll', 'Left_Ankle_Pitch', 'Right_Ankle_Pitch', 'Left_Ankle_Roll', 'Right_Ankle_Roll',
'AL1', 'AL2', 'AL3', # 手臂
'AR1', 'AR2', 'AR3' '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( arm_movement_exploration = RewTerm(
func=mdp.joint_vel_l2, func=mdp.joint_vel_l2,
weight=2, # 权重不要太高，防止变成“风扇” 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) # 8. 手臂位置多样性奖 (离开默认折叠姿态)
arm_deviation_bonus = RewTerm( arm_deviation_bonus = RewTerm(
func=joint_deviation_l2, func=joint_deviation_l2,
weight=1, weight=1,
params={ params={"asset_cfg": SceneEntityCfg("robot",joint_names=["Left_Shoulder.*", "Left_Elbow.*", "Right_Shoulder.*", "Right_Elbow.*"])}
"asset_cfg": SceneEntityCfg("robot", joint_names=["AL3", "AR3"])
}
) )
@configclass @configclass
@@ -272,7 +274,7 @@ class T1GetUpTerminationsCfg:
@configclass @configclass
class T1EnvCfg(ManagerBasedRLEnvCfg): 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): def __post_init__(self):
super().__post_init__() super().__post_init__()