128 lines
4.4 KiB
Python
128 lines
4.4 KiB
Python
from isaaclab.assets import ArticulationCfg
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from isaaclab.envs import ManagerBasedRLEnvCfg
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from isaaclab.managers import ObservationGroupCfg as ObsGroup
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from isaaclab.managers import ObservationTermCfg as ObsTerm
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from isaaclab.managers import RewardTermCfg as RewTerm
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from isaaclab.managers import TerminationTermCfg as DoneTerm
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from isaaclab.managers import EventTermCfg as EventTerm
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from isaaclab.envs.mdp import JointPositionActionCfg
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from isaaclab.managers import SceneEntityCfg
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from isaaclab.utils import configclass
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from rl_game.get_up.env.t1_env import T1SceneCfg
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import isaaclab.envs.mdp as mdp
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@configclass
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class T1ObservationCfg:
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"""观察值：必须包含姿态和高度，否则机器人不知道自己是怎么躺着的"""
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@configclass
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class PolicyCfg(ObsGroup):
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concatenate_terms = True
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enable_corruption = False
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base_lin_vel = ObsTerm(func=mdp.base_lin_vel)
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base_ang_vel = ObsTerm(func=mdp.base_ang_vel)
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projected_gravity = ObsTerm(func=mdp.projected_gravity)
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# ⬅️ 新增：让机器人知道自己离地多高
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root_height = ObsTerm(func=mdp.root_pos_w)
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joint_pos = ObsTerm(func=mdp.joint_pos_rel)
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joint_vel = ObsTerm(func=mdp.joint_vel_rel)
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actions = ObsTerm(func=mdp.last_action)
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policy = PolicyCfg()
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@configclass
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class T1EventCfg:
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"""事件配置：实现多种随机躺下姿态的关键"""
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# 每次重置时，随机给基座一个旋转角度
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# 包括：背躺 (Pitch=1.57), 趴着 (Pitch=-1.57), 侧躺 (Roll=1.57)
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reset_robot_rotation = EventTerm(
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func=mdp.reset_root_state_uniform, # 修正为报错建议的函数名
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params={
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"asset_cfg": SceneEntityCfg("robot"),
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"pose_range": {
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"roll": (-1.57, 1.57), # 侧躺随机
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"pitch": (-1.57, 1.57), # 趴下/背躺随机
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"yaw": (-3.14, 3.14), # 航向角随机
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"x": (0.0, 0.0), # 位置不随机（保持在原点）
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"y": (0.0, 0.0),
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"z": (0.0, 0.0), # 高度由 init_state 决定，这里设为0偏移
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},
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"velocity_range": {}, # 初始速度默认为0
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},
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mode="reset",
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)
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@configclass
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class T1ActionCfg:
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"""动作空间配置组"""
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# 这里的变量名 (例如 joint_pos) 将决定 ActionManager 中的 term 名称
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joint_pos = JointPositionActionCfg(
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asset_name="robot",
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joint_names=[".*"],
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scale=0.5,
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use_default_offset=True
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)
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@configclass
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class T1GetUpRewardCfg:
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"""起身任务专用奖励：快、直、稳"""
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# 1. 核心进度：高度奖励
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# 只要低于目标高度(0.6m)，就会持续根据距离给负分，越高分数越接近0
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height_progress = RewTerm(
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func=mdp.root_height_below_minimum,
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weight=15.0,
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params={"minimum_height": 0.65}
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)
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# 2. 速度惩罚：时间就是金钱
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# 每一帧都扣 0.5 分，起身越慢，被扣掉的总分就越多
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time_penalty = RewTerm(
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func=mdp.is_alive,
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weight=-0.5
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)
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# 3. 姿态奖励：上半身必须垂直向上
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upright = RewTerm(func=mdp.flat_orientation_l2, weight=2.0)
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# 4. 平滑惩罚：防止起身时由于急躁导致的剧烈抖动
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action_rate = RewTerm(func=mdp.action_rate_l2, weight=-0.01)
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joint_vel = RewTerm(func=mdp.joint_vel_l2, weight=-0.001)
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@configclass
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class T1TerminationsCfg:
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"""终止条件"""
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# 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
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is_standing_success = DoneTerm(
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func=mdp.root_height_below_minimum,
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params={"minimum_height": 0.65},
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)
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time_out = DoneTerm(func=mdp.time_out)
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@configclass
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class T1EnvCfg(ManagerBasedRLEnvCfg):
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"""主环境配置：针对 T1 起身任务"""
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scene = T1SceneCfg(num_envs=16384, env_spacing=2.5)
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# 覆盖初始位置：必须低高度生成，防止随机旋转后高空坠落
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def __post_init__(self):
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super().__post_init__()
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self.scene.robot.init_state.pos = (0.0, 0.0, 0.2)
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observations = T1ObservationCfg()
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rewards = T1GetUpRewardCfg()
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terminations = T1TerminationsCfg()
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events = T1EventCfg() # ⬅️ 挂载随机姿态事件
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actions = T1ActionCfg()
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# 训练参数
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episode_length_s = 5.0 # 强制 5秒内必须站起来
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decimation = 4 # 提高控制频率 (约 50Hz) 有助于精细动作 |