From 6510cb0bfceda7b814a62c61e8cb3ba1bf26f6a8 Mon Sep 17 00:00:00 2001
From: ChenXi <chenxiliu2405@gmail.com>
Date: Mon, 16 Mar 2026 05:46:49 -0400
Subject: [PATCH] Amend some bugs and make it training

---
 rl_game/get_up/config/t1_env_cfg.py | 34 +++++++++++++++++++----------
 rl_game/get_up/train.py             |  2 +-
 2 files changed, 24 insertions(+), 12 deletions(-)

diff --git a/rl_game/get_up/config/t1_env_cfg.py b/rl_game/get_up/config/t1_env_cfg.py
index 3a4b86c..66768c8 100644
--- a/rl_game/get_up/config/t1_env_cfg.py
+++ b/rl_game/get_up/config/t1_env_cfg.py
@@ -26,7 +26,7 @@ class T1ObservationCfg:
         base_ang_vel = ObsTerm(func=mdp.base_ang_vel)
         projected_gravity = ObsTerm(func=mdp.projected_gravity)
         # ⬅️ 新增：让机器人知道自己离地多高
-        root_height = ObsTerm(func=mdp.root_height)
+        root_height = ObsTerm(func=mdp.root_pos_w)
         joint_pos = ObsTerm(func=mdp.joint_pos_rel)
         joint_vel = ObsTerm(func=mdp.joint_vel_rel)
         actions = ObsTerm(func=mdp.last_action)
@@ -41,18 +41,32 @@ class T1EventCfg:
     # 每次重置时，随机给基座一个旋转角度
     # 包括：背躺 (Pitch=1.57), 趴着 (Pitch=-1.57), 侧躺 (Roll=1.57)
     reset_robot_rotation = EventTerm(
-        func=mdp.reset_root_custom_orientation,
+        func=mdp.reset_root_state_uniform,  # 修正为报错建议的函数名
         params={
-            "euler_angles_range": {
-                "roll": (-1.57, 1.57),  # 覆盖侧躺
-                "pitch": (-1.57, 1.57),  # 覆盖趴下和背躺
-                "yaw": (-3.14, 3.14),  # 随机朝向
-            },
             "asset_cfg": SceneEntityCfg("robot"),
+            "pose_range": {
+                "roll": (-1.57, 1.57),  # 侧躺随机
+                "pitch": (-1.57, 1.57),  # 趴下/背躺随机
+                "yaw": (-3.14, 3.14),  # 航向角随机
+                "x": (0.0, 0.0),  # 位置不随机（保持在原点）
+                "y": (0.0, 0.0),
+                "z": (0.0, 0.0),  # 高度由 init_state 决定，这里设为0偏移
+            },
+            "velocity_range": {},  # 初始速度默认为0
         },
         mode="reset",
     )
 
+@configclass
+class T1ActionCfg:
+    """动作空间配置组"""
+    # 这里的变量名 (例如 joint_pos) 将决定 ActionManager 中的 term 名称
+    joint_pos = JointPositionActionCfg(
+        asset_name="robot",
+        joint_names=[".*"],
+        scale=0.5,
+        use_default_offset=True
+    )
 
 @configclass
 class T1GetUpRewardCfg:
@@ -87,7 +101,7 @@ class T1TerminationsCfg:
     # 提前成功：如果站起来了并保持稳定，直接结束 Episode 并拿奖励，节省算力
     is_standing_success = DoneTerm(
         func=mdp.root_height_below_minimum,
-        params={"minimum_height": 0.65, "inverted": True}  # 高于 0.65m 则重置
+        params={"minimum_height": 0.65},
     )
     time_out = DoneTerm(func=mdp.time_out)
 
@@ -107,9 +121,7 @@ class T1EnvCfg(ManagerBasedRLEnvCfg):
     terminations = T1TerminationsCfg()
     events = T1EventCfg()  # ⬅️ 挂载随机姿态事件
 
-    actions = JointPositionActionCfg(
-        asset_name="robot", joint_names=[".*"], scale=0.5, use_default_offset=True
-    )
+    actions = T1ActionCfg()
 
     # 训练参数
     episode_length_s = 5.0  # 强制 5秒内必须站起来
diff --git a/rl_game/get_up/train.py b/rl_game/get_up/train.py
index 065b87c..6310193 100644
--- a/rl_game/get_up/train.py
+++ b/rl_game/get_up/train.py
@@ -71,7 +71,7 @@ def main():
     rl_game_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), "."))
     log_dir = os.path.join(rl_game_dir, "logs")
     rl_config['params']['config']['train_dir'] = log_dir
-    rl_config['params']['config']['name'] = "T1_GetUp_Experiment"
+    rl_config['params']['config']['name'] = "T1_GetUp"
 
     # 7. 运行训练
     runner = Runner()