Amend bug

2026-03-19 09:36:32 -04:00
parent af3ba4704f
commit 9cfc127694
1 changed files with 6 additions and 0 deletions
--- 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,