From 14f21510146d33218a956d05f2d93c321423d701 Mon Sep 17 00:00:00 2001
From: ChenXi <chenxiliu2405@gmail.com>
Date: Fri, 20 Mar 2026 07:03:41 -0400
Subject: [PATCH] Amend bugs

---
 rl_game/get_up/config/t1_env_cfg.py | 54 +++--------------------------
 1 file changed, 5 insertions(+), 49 deletions(-)

diff --git a/rl_game/get_up/config/t1_env_cfg.py b/rl_game/get_up/config/t1_env_cfg.py
index ac5d155..93cb7f4 100644
--- a/rl_game/get_up/config/t1_env_cfg.py
+++ b/rl_game/get_up/config/t1_env_cfg.py
@@ -1,3 +1,5 @@
+import random
+
 import torch
 from isaaclab.assets import ArticulationCfg
 from isaaclab.envs import ManagerBasedRLEnvCfg, ManagerBasedRLEnv
@@ -10,7 +12,6 @@ from isaaclab.envs.mdp import JointPositionActionCfg
 from isaaclab.managers import SceneEntityCfg
 from isaaclab.utils import configclass
 from rl_game.get_up.env.t1_env import T1SceneCfg
-import isaaclab.utils.math as math_utils
 
 import isaaclab.envs.mdp as mdp
 
@@ -184,51 +185,6 @@ def strict_feet_contact_reward(env: ManagerBasedRLEnv, sensor_cfg: SceneEntityCf
 
     return (~all_feet_cond).float()  # 返回1表示违规
 
-
-def reset_root_state_symmetric(
-        env: ManagerBasedRLEnv,
-        env_ids: torch.Tensor,
-        asset_cfg: SceneEntityCfg,
-        pose_range: dict,
-        velocity_range: dict
-):
-    """随机对称采样：让机器人随机以 趴/躺/左倾/右倾 及其组合姿态重置"""
-    robot = env.scene[asset_cfg.name]
-    num_resets = len(env_ids)
-    device = env.device
-
-    # 1. 采样 Euler 角 (roll, pitch, yaw)
-    # 我们先在 positive range 内采样
-    def get_rand(key):
-        low, high = pose_range[key]
-        return (high - low) * torch.rand(num_resets, device=device) + low
-
-    roll = get_rand("roll")
-    pitch = get_rand("pitch")
-    yaw = (pose_range["yaw"][1] - pose_range["yaw"][0]) * torch.rand(num_resets, device=device) + pose_range["yaw"][0]
-
-    # 2. 核心：随机符号化 (Random Sign)
-    # 50% 概率保持正，50% 概率变负。Roll 和 Pitch 独立随机。
-    roll_sign = (torch.randint(0, 2, (num_resets,), device=device) * 2 - 1).float()
-    pitch_sign = (torch.randint(0, 2, (num_resets,), device=device) * 2 - 1).float()
-
-    roll *= roll_sign
-    pitch *= pitch_sign
-
-    # 3. 应用到状态
-    quat = math_utils.quat_from_euler_xyz(roll, pitch, yaw)
-
-    # 获取默认状态并叠加随机位置偏移 (x, y, z)
-    root_states = robot.data.default_root_state[env_ids].clone()
-    for i, key in enumerate(["x", "y", "z"]):
-        low, high = pose_range[key]
-        root_states[:, i] += (high - low) * torch.rand(num_resets, device=device) + low
-
-    root_states[:, 3:7] = quat
-
-    # 4. 写入仿真 (同时清除速度，确保是静态开始)
-    robot.write_root_state_to_sim(root_states, env_ids)
-
 # --- 2. 配置类 ---
 
 T1_JOINT_NAMES = [
@@ -258,12 +214,12 @@ class T1ObservationCfg:
 @configclass
 class T1EventCfg:
     reset_robot_rotation = EventTerm(
-        func=reset_root_state_symmetric, # 使用上面那个通用的函数
+        func=mdp.reset_root_state_uniform,
         params={
             "asset_cfg": SceneEntityCfg("robot"),
             "pose_range": {
-                "roll": (0, 1.57),   # 左右侧卧
-                "pitch": (1.4, 1.6),  # 仰卧/俯卧
+                "roll": (0, 1.57) * random.choice([1, -1]) ,   # 左右侧卧
+                "pitch": (1.4, 1.6) * random.choice([1, -1]) ,  # 仰卧/俯卧
                 "yaw": (-3.14, 3.14), # 全向旋转
                 "x": (0.0, 0.0),
                 "y": (0.0, 0.0),