Amend some codes to init training for get up better

rl_game/get_up/env/t1_env.py

@@ -1,5 +1,6 @@
 from isaaclab.assets import ArticulationCfg, AssetBaseCfg
 from isaaclab.scene import InteractiveSceneCfg
+from isaaclab.sensors import ContactSensorCfg
 from isaaclab.utils import configclass
 from isaaclab.actuators import ImplicitActuatorCfg
 from isaaclab import sim as sim_utils
@@ -53,6 +54,12 @@ 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
+    )
+
     # 3. 光照配置
     light = AssetBaseCfg(
         prim_path="/World/light",