change parameter

rl_game/get_up/config/t1_env_cfg.py

@@ -203,6 +203,7 @@ class T1ObservationCfg:
         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)
+        root_pos = ObsTerm(func=mdp.root_pos_w)
         joint_pos = ObsTerm(func=mdp.joint_pos_rel,
                             params={"asset_cfg": SceneEntityCfg("robot", joint_names=T1_JOINT_NAMES)})
         joint_vel = ObsTerm(func=mdp.joint_vel_rel,
@@ -224,7 +225,7 @@ class T1EventCfg:
                 "yaw": (-3.14, 3.14), # 全向旋转
                 "x": (0.0, 0.0),
                 "y": (0.0, 0.0),
-                "z": (0.2, 0.3),
+                "z": (0.1, 0.2),
             },
             "velocity_range": {},
         },
@@ -238,7 +239,7 @@ class T1ActionCfg:
     joint_pos = JointPositionActionCfg(
         asset_name="robot",
         joint_names=T1_JOINT_NAMES,
-        scale=0.2,  # 从 0.5 降到 0.2，防止电机暴力抽搐
+        scale=0.5,
         use_default_offset=True
     )
 
@@ -246,35 +247,35 @@ class T1ActionCfg:
 @configclass
 class T1GetUpRewardCfg:
     # 1. 姿态基础奖 (引导身体变正)
-    upright = RewTerm(func=mdp.flat_orientation_l2, weight=5.0)
+    upright = RewTerm(func=mdp.flat_orientation_l2, weight=10.0)
 
     # 2. 【条件高度奖】：双高度判定（头+盆骨），且必须脚踩地
     height_with_feet = RewTerm(
         func=standing_with_feet_reward,
-        weight=30.0,  # 作为核心引导，增加权重
+        weight=50.0,  # 作为核心引导，增加权重
         params={
             "min_head_height": 1.10,
             "min_pelvis_height": 0.65,
             "sensor_cfg": SceneEntityCfg("contact_sensor", body_names=[".*_foot_link"]),
-            "force_threshold": 30.0
+            "force_threshold": 10.0
         }
     )
 
     # 3. 手臂撑地奖：辅助脱离地面阶段
     arm_push_support = RewTerm(
         func=arm_push_up_reward,
-        weight=15.0,  # 显著增加权重（从 3.0 提到 15.0），让它成为起步的关键
+        weight=20.0,  # 显著增加权重（从 3.0 提到 15.0），让它成为起步的关键
         params={
             "sensor_cfg": SceneEntityCfg("contact_sensor", body_names=[".*_hand_link", "AL3", "AR3"]),
             "height_threshold": 0.6,  # 躯干升到 0.6m 前都鼓励手臂用力
-            "min_force": 15.0  # 只要有 15N 的力就触发
+            "min_force": 10.0  # 只要有 15N 的力就触发
         }
     )
 
     # 4. 惩罚项
     undesired_contacts = RewTerm(
         func=mdp.undesired_contacts,
-        weight=-10.0,
+        weight=-2.0,
         params={
             "sensor_cfg": SceneEntityCfg("contact_sensor", body_names=["H2", "Trunk"]),
             # 注意：此处必须排除手臂相关 link，否则手臂用力时会同时被扣分
@@ -285,26 +286,26 @@ class T1GetUpRewardCfg:
     # 5. 抑制跳跃：严厉惩罚向上窜的速度
     root_vel_z_penalty = RewTerm(
         func=root_vel_z_l2_local,
-        weight=-50.0,  # 增大负权重
+        weight=-1.0,  # 增大负权重
         params={"asset_cfg": SceneEntityCfg("robot")}
     )
 
     # 6. 抑制滞空 (Airtime Penalty)
     feet_airtime = RewTerm(
         func=strict_feet_contact_reward,
-        weight=-20.0,  # 加大权重，跳一下扣的分比站起来得的分还多
+        weight=-5.0,  # 加大权重，跳一下扣的分比站起来得的分还多
         params={"sensor_cfg": SceneEntityCfg("contact_sensor", body_names=[".*_foot_link"])}
     )
 
     joint_vel_penalty = RewTerm(
         func=mdp.joint_vel_l2,
-        weight=-0.5,  # 惩罚过快的关节运动
+        weight=-0.01,  # 惩罚过快的关节运动
         params={"asset_cfg": SceneEntityCfg("robot")}
     )
 
     action_rate = RewTerm(
         func=mdp.action_rate_l2,
-        weight=-0.5,  # 惩罚动作的突变，让动作更丝滑，减少爆发力
+        weight=-0.05,  # 惩罚动作的突变，让动作更丝滑，减少爆发力
     )
 
     # 惩罚躯干的翻转和俯仰角速度
@@ -323,7 +324,7 @@ class T1GetUpRewardCfg:
     # 7. 成功终极大奖
     is_success = RewTerm(
         func=lambda env, keys: env.termination_manager.get_term(keys),
-        weight=500.0,
+        weight=1000.0,
         params={"keys": "standing_success"}
     )