From 9cfc12769414eec63861eb6d53553f8085507448 Mon Sep 17 00:00:00 2001
From: ChenXi <chenxiliu2405@gmail.com>
Date: Thu, 19 Mar 2026 09:36:32 -0400
Subject: [PATCH] Amend bug

---
 rl_game/get_up/env/t1_env.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/rl_game/get_up/env/t1_env.py b/rl_game/get_up/env/t1_env.py
index 01b7e8e..7825549 100644
--- a/rl_game/get_up/env/t1_env.py
+++ b/rl_game/get_up/env/t1_env.py
@@ -55,6 +55,12 @@ 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,