94 lines
3.1 KiB
Python
94 lines
3.1 KiB
Python
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.envs.mdp import JointPositionActionCfg
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import isaaclab.envs.mdp as mdp
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from isaaclab.utils import configclass
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from rl_game.demo.env.t1_env import T1SceneCfg
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@configclass
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class T1ObservationCfg:
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"""观察值空间配置容器"""
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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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# ⬅️ 2. 修改点：直接使用 mdp.函数名，不要引号
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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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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 T1ActionCfg:
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"""动作空间配置"""
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joint_pos = JointPositionActionCfg(
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asset_name="robot", # 注意这里是 asset_name，对应场景里的机器人名称
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joint_names=[".*"], # 控制所有关节
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scale=0.5, # 缩放网络输出
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use_default_offset=True # 动作是相对于默认关节角度(init_state里的0)的偏移
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)
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@configclass
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class T1TerminationsCfg:
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"""终止条件：什么时候重置环境"""
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# 1. 摔倒重置：如果躯干高度低于 0.35米 (假设 T1 胯部在 0.7米)
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base_height_too_low = DoneTerm(
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func=mdp.root_height_below_minimum,
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params={"minimum_height": 0.35},
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)
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# 2. 存活时间限制 (Timeout)
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time_out = DoneTerm(func=mdp.time_out)
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@configclass
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class T1CommandsCfg:
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"""命令配置：定义机器人的目标速度"""
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base_velocity = mdp.UniformVelocityCommandCfg(
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asset_name="robot",
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resampling_time_range=(10.0, 10.0),
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ranges=mdp.UniformVelocityCommandCfg.Ranges(
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lin_vel_x=(0.5, 1.5),
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lin_vel_y=(0.0, 0.0),
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ang_vel_z=(-0.1, 0.1),
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),
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)
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@configclass
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class T1RewardCfg:
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"""奖励函数配置：鼓励向前走，惩罚摔倒和过大能耗"""
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# 速度追踪奖励 (假设目标是沿 X 轴走)
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track_lin_vel_xy_exp = RewTerm(
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func=mdp.track_lin_vel_xy_exp,
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weight=1.0,
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params={
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"std": 0.5,
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"command_name": "base_velocity"
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}
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)
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# 姿态惩罚 (保持上半身直立)
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upright = RewTerm(func=mdp.flat_orientation_l2, weight=0.1)
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# 动作平滑惩罚
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action_rate_l2 = RewTerm(func=mdp.action_rate_l2, weight=-0.01)
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@configclass
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class T1EnvCfg(ManagerBasedRLEnvCfg):
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"""主环境配置"""
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# 场景设置
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scene = T1SceneCfg(num_envs=16384, env_spacing=2.5)
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# 观察与奖励
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observations = T1ObservationCfg()
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rewards = T1RewardCfg()
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terminations = T1TerminationsCfg()
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actions = T1ActionCfg()
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commands = T1CommandsCfg()
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episode_length_s = 20.0
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# 默认步长
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decimation = 6 # 仿真频率/控制频率 |