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Amend for standing

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This commit is contained in:
ChenXi
2026-03-20 03:37:56 -04:00
parent 9cfc127694
commit 2ae7210062
3 changed files with 97 additions and 47 deletions
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7
rl_game/get_up/env/t1_env.py vendored
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@@ -54,13 +54,6 @@ class T1SceneCfg(InteractiveSceneCfg):
},
)
feet_contact_sensor = ContactSensorCfg(
prim_path="{ENV_REGEX_NS}/Robot/.*_foot_link", # 使用正则匹配所有脚部 link
update_period=0.0, # 随物理步长更新
history_length=3
)
contact_sensor = ContactSensorCfg(
prim_path="{ENV_REGEX_NS}/Robot/.*",
update_period=0.0,