available_demo_1

.idea/vcs.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="" vcs="Git" />
+  </component>
+</project>

rl_game/get_up/__init__.py

@@ -1,13 +1,12 @@
 import gymnasium as gym
 
 # 导入你的配置
-from rl_game.demo.config.t1_env_cfg import T1EnvCfg
+from rl_game.get_up.config.t1_env_cfg import T1EnvCfg
 
-# 注册环境到 Gymnasium
+# 注册环境到 Gymnasium（防止重复注册冲突）
-gym.register(
+if "Isaac-T1-GetUp-v0" not in gym.registry:
+    gym.register(
         id="Isaac-T1-GetUp-v0",
-    entry_point="isaaclab.envs:ManagerBasedRLEnv", # Isaac Lab 统一的强化学习环境入口
+        entry_point="isaaclab.envs:ManagerBasedRLEnv",
-    kwargs={
+        kwargs={"cfg": T1EnvCfg()},
-        "cfg": T1EnvCfg(),
+    )
-    },
-)

rl_game/get_up/config/ppo_cfg.yaml

@@ -17,7 +17,7 @@ params:
           name: default
         sigma_init:
           name: const_initializer
-          val: 1.0
+          val: 0.80
         fixed_sigma: False
     mlp:
       units: [512, 256, 128]
@@ -41,20 +41,20 @@ params:
     normalize_advantage: True
     gamma: 0.99
     tau: 0.95
-    learning_rate: 5e-4
+    learning_rate: 3e-4
     lr_schedule: adaptive
-    kl_threshold: 0.01
+    kl_threshold: 0.013
     score_to_win: 20000
     max_epochs: 500000
     save_best_after: 50
     save_frequency: 100
-    grad_norm: 1.0
+    grad_norm: 0.8
-    entropy_coef: 0.01
+    entropy_coef: 0.00008
     truncate_grads: True
     bounds_loss_coef: 0.01
     e_clip: 0.2
-    horizon_length: 256
+    horizon_length: 192
-    minibatch_size: 65536
+    minibatch_size: 49152
     mini_epochs: 4
     critic_coef: 1
     clip_value: True

rl_game/get_up/config/t1_env_cfg.py

@@ -1,8 +1,5 @@
 import torch
-import random
-import numpy as np
 import isaaclab.envs.mdp as mdp
-from isaaclab.assets import ArticulationCfg
 from isaaclab.envs import ManagerBasedRLEnvCfg, ManagerBasedRLEnv
 from isaaclab.managers import ObservationGroupCfg as ObsGroup
 from isaaclab.managers import ObservationTermCfg as ObsTerm
@@ -15,9 +12,109 @@ from isaaclab.utils import configclass
 from rl_game.get_up.env.t1_env import T1SceneCfg
 
 
-# ==========================================
+def _contact_force_z(env: ManagerBasedRLEnv, sensor_cfg: SceneEntityCfg) -> torch.Tensor:
-# 1. 核心逻辑区：非线性加法引导与惩罚机制
+    """Sum positive vertical contact force on selected bodies."""
-# ==========================================
+    sensor = env.scene.sensors.get(sensor_cfg.name)
+    forces_z = sensor.data.net_forces_w[:, :, 2]
+    body_ids = sensor_cfg.body_ids
+    if body_ids is None:
+        selected_z = forces_z
+    else:
+        selected_z = forces_z[:, body_ids]
+    return torch.clamp(torch.sum(selected_z, dim=-1), min=0.0)
+
+
+def root_height_obs(env: ManagerBasedRLEnv) -> torch.Tensor:
+    pelvis_idx, _ = env.scene["robot"].find_bodies("Trunk")
+    return env.scene["robot"].data.body_state_w[:, pelvis_idx[0], 2].unsqueeze(-1)
+
+
+def head_height_obs(env: ManagerBasedRLEnv) -> torch.Tensor:
+    head_idx, _ = env.scene["robot"].find_bodies("H2")
+    return env.scene["robot"].data.body_state_w[:, head_idx[0], 2].unsqueeze(-1)
+
+
+def foot_support_force_obs(env: ManagerBasedRLEnv, foot_sensor_cfg: SceneEntityCfg, norm_force: float = 120.0) -> torch.Tensor:
+    foot_force_z = _contact_force_z(env, foot_sensor_cfg)
+    return torch.tanh(foot_force_z / norm_force).unsqueeze(-1)
+
+
+def arm_support_force_obs(env: ManagerBasedRLEnv, arm_sensor_cfg: SceneEntityCfg, norm_force: float = 120.0) -> torch.Tensor:
+    arm_force_z = _contact_force_z(env, arm_sensor_cfg)
+    return torch.tanh(arm_force_z / norm_force).unsqueeze(-1)
+
+
+def contact_balance_obs(
+        env: ManagerBasedRLEnv,
+        foot_sensor_cfg: SceneEntityCfg,
+        arm_sensor_cfg: SceneEntityCfg,
+) -> torch.Tensor:
+    foot_force_z = _contact_force_z(env, foot_sensor_cfg)
+    arm_force_z = _contact_force_z(env, arm_sensor_cfg)
+    total_support = foot_force_z + arm_force_z + 1e-6
+    foot_support_ratio = torch.clamp(foot_force_z / total_support, min=0.0, max=1.0)
+    return foot_support_ratio.unsqueeze(-1)
+
+
+def reset_root_state_bimodal_lie_pose(
+        env: ManagerBasedRLEnv,
+        env_ids: torch.Tensor,
+        asset_cfg: SceneEntityCfg,
+        roll_range: tuple[float, float],
+        pitch_abs_range: tuple[float, float],
+        yaw_abs_range: tuple[float, float],
+        x_range: tuple[float, float],
+        y_range: tuple[float, float],
+        z_range: tuple[float, float],
+):
+    """Reset with two lying modes around +pi/2 and -pi/2."""
+    robot = env.scene[asset_cfg.name]
+    num_resets = len(env_ids)
+    default_root_state = robot.data.default_root_state[env_ids].clone()
+    env_origins = env.scene.env_origins[env_ids]
+
+    for i, bounds in enumerate([x_range, y_range, z_range]):
+        v_min, v_max = bounds
+        rand_vals = torch.rand(num_resets, device=env.device)
+        default_root_state[:, i] = env_origins[:, i] + v_min + rand_vals * (v_max - v_min)
+
+    euler_angles = torch.zeros((num_resets, 3), device=env.device)
+
+    roll_min, roll_max = roll_range
+    euler_angles[:, 0] = roll_min + torch.rand(num_resets, device=env.device) * (roll_max - roll_min)
+
+    pitch_min, pitch_max = pitch_abs_range
+    pitch_mag = pitch_min + torch.rand(num_resets, device=env.device) * (pitch_max - pitch_min)
+    pitch_sign = torch.where(
+        torch.rand(num_resets, device=env.device) > 0.5,
+        torch.ones(num_resets, device=env.device),
+        -torch.ones(num_resets, device=env.device),
+    )
+    euler_angles[:, 1] = pitch_mag * pitch_sign
+
+    yaw_min, yaw_max = yaw_abs_range
+    yaw_mag = yaw_min + torch.rand(num_resets, device=env.device) * (yaw_max - yaw_min)
+    yaw_sign = torch.where(
+        torch.rand(num_resets, device=env.device) > 0.5,
+        torch.ones(num_resets, device=env.device),
+        -torch.ones(num_resets, device=env.device),
+    )
+    euler_angles[:, 2] = yaw_mag * yaw_sign
+
+    roll, pitch, yaw = euler_angles[:, 0], euler_angles[:, 1], euler_angles[:, 2]
+    cr, sr = torch.cos(roll * 0.5), torch.sin(roll * 0.5)
+    cp, sp = torch.cos(pitch * 0.5), torch.sin(pitch * 0.5)
+    cy, sy = torch.cos(yaw * 0.5), torch.sin(yaw * 0.5)
+
+    qw = cr * cp * cy + sr * sp * sy
+    qx = sr * cp * cy - cr * sp * sy
+    qy = cr * sp * cy + sr * cp * sy
+    qz = cr * cp * sy - sr * sp * cy
+    default_root_state[:, 3:7] = torch.stack([qw, qx, qy, qz], dim=-1)
+
+    robot.write_root_pose_to_sim(default_root_state[:, :7], env_ids)
+    robot.write_root_velocity_to_sim(default_root_state[:, 7:], env_ids)
+
 
 def smooth_additive_getup_reward(
         env: ManagerBasedRLEnv,
@@ -25,161 +122,275 @@ def smooth_additive_getup_reward(
         min_pelvis_height: float,
         foot_sensor_cfg: SceneEntityCfg,
         arm_sensor_cfg: SceneEntityCfg,
+        head_track_gain: float = 7.0,
+        pelvis_track_gain: float = 3.2,
+        head_progress_gain: float = 3.5,
+        pelvis_progress_gain: float = 2.0,
+        head_clearance_gain: float = 2.8,
+        torso_track_gain: float = 4.2,
+        upright_track_gain: float = 3.6,
+        foot_support_gain: float = 2.0,
+        arm_release_gain: float = 1.2,
+        arm_push_gain: float = 2.2,
+        arm_push_threshold: float = 10.0,
+        arm_push_sharpness: float = 0.12,
+        head_sigma: float = 0.09,
+        pelvis_sigma: float = 0.08,
+        torso_sigma: float = 0.20,
+        upright_sigma: float = 0.22,
+        support_sigma: float = 0.30,
+        tuck_gain: float = 0.6,
+        no_foot_penalty_gain: float = 1.2,
+        horizontal_vel_penalty_gain: float = 0.25,
+        angular_vel_penalty_gain: float = 0.22,
+        split_penalty_gain: float = 2.5,
+        split_soft_limit: float = 0.33,
+        split_hard_limit: float = 0.44,
+        split_hard_penalty_gain: float = 9.0,
+        head_delta_gain: float = 18.0,
+        pelvis_delta_gain: float = 15.0,
+        internal_reward_scale: float = 0.45,
 ) -> torch.Tensor:
-    """
-    指数级纯加法平滑奖励 (完全修复版)：
-    融合了头部高度防驼背，以及脚底受力防跪地。
-    """
     head_idx, _ = env.scene["robot"].find_bodies("H2")
     pelvis_idx, _ = env.scene["robot"].find_bodies("Trunk")
     foot_indices, _ = env.scene["robot"].find_bodies(".*_foot_link")
 
-    head_h = env.scene["robot"].data.body_state_w[:, head_idx[0], 2]
+    head_pos = env.scene["robot"].data.body_state_w[:, head_idx[0], :3]
     pelvis_pos = env.scene["robot"].data.body_state_w[:, pelvis_idx[0], :3]
+    head_h = head_pos[:, 2]
     pelvis_h = pelvis_pos[:, 2]
+    root_lin_vel_w = env.scene["robot"].data.root_lin_vel_w
+    root_lin_speed_xy = torch.norm(root_lin_vel_w[:, :2], dim=-1)
+    root_ang_speed = torch.norm(env.scene["robot"].data.root_ang_vel_w, dim=-1)
 
-    foot_pos = env.scene["robot"].data.body_state_w[:, foot_indices, :3]
+    prev_head_key = "prev_head_height"
-    feet_center_xy = torch.mean(foot_pos[:, :, :2], dim=1)
+    prev_pelvis_key = "prev_pelvis_height"
-    pelvis_xy = pelvis_pos[:, :2]
+    if prev_head_key not in env.extras:
+        env.extras[prev_head_key] = head_h.clone()
+    if prev_pelvis_key not in env.extras:
+        env.extras[prev_pelvis_key] = pelvis_h.clone()
+    prev_head_h = env.extras[prev_head_key]
+    prev_pelvis_h = env.extras[prev_pelvis_key]
+    # Dense progress reward: positive-only height improvements help break plateaus.
+    head_delta = torch.clamp(head_h - prev_head_h, min=0.0, max=0.05)
+    pelvis_delta = torch.clamp(pelvis_h - prev_pelvis_h, min=0.0, max=0.05)
 
     projected_gravity = env.scene["robot"].data.projected_gravity_b
+    gravity_error = torch.norm(projected_gravity[:, :2], dim=-1)
+    upright_ratio = torch.clamp(1.0 - gravity_error, min=0.0, max=1.0)
 
-    # --- 基础状态比率 ---
+    torso_vec = head_pos - pelvis_pos
-    upright_ratio = torch.clamp(1.0 - torch.norm(projected_gravity[:, :2], dim=-1), min=0.0, max=1.0)
+    torso_vec_norm = torso_vec / (torch.norm(torso_vec, dim=-1, keepdim=True) + 1e-5)
-    raw_height_ratio = torch.clamp(pelvis_h / min_pelvis_height, min=0.0, max=1.0)
+    torso_alignment = torch.clamp(torso_vec_norm[:, 2], min=0.0, max=1.0)
 
-    # 🌟 修复 1：把头部高度加回来，防驼背
+    foot_force_z = _contact_force_z(env, foot_sensor_cfg)
-    head_ratio = torch.clamp(head_h / min_head_height, min=0.0, max=1.0)
+    arm_force_z = _contact_force_z(env, arm_sensor_cfg)
+    total_support = foot_force_z + arm_force_z + 1e-6
+    foot_support_ratio = torch.clamp(foot_force_z / total_support, min=0.0, max=1.0)
+    arm_support_ratio = torch.clamp(arm_force_z / total_support, min=0.0, max=1.0)
 
-    # 指数级高度比例
+    head_track = torch.exp(-0.5 * torch.square((head_h - min_head_height) / head_sigma))
-    height_ratio_sq = torch.square(raw_height_ratio)
+    pelvis_track = torch.exp(-0.5 * torch.square((pelvis_h - min_pelvis_height) / pelvis_sigma))
-
+    # Dense height-progress shaping: provide reward signal all the way from lying to standing.
-    # 1. 核心主线分：加入 head_ratio，促使它把上半身彻底挺直
+    head_progress = torch.clamp(head_h / min_head_height, min=0.0, max=1.0)
-    core_reward = (height_ratio_sq * 3.0) + (upright_ratio * 1.0) + (head_ratio * 1.0)
+    pelvis_progress = torch.clamp(pelvis_h / min_pelvis_height, min=0.0, max=1.0)
-
+    # Encourage "head up" posture: head should stay clearly above pelvis.
-    # --- 辅助过渡分 ---
+    head_clearance = torch.clamp((head_h - pelvis_h) / 0.45, min=0.0, max=1.0)
-    foot_sensor = env.scene.sensors.get(foot_sensor_cfg.name)
+    torso_track = torch.exp(-0.5 * torch.square((1.0 - torso_alignment) / torso_sigma))
-    arm_sensor = env.scene.sensors.get(arm_sensor_cfg.name)
+    upright_track = torch.exp(-0.5 * torch.square((1.0 - upright_ratio) / upright_sigma))
-    foot_force_z = torch.clamp(torch.sum(foot_sensor.data.net_forces_w[:, :, 2], dim=-1), min=0.0)
+    foot_support_track = torch.exp(-0.5 * torch.square((1.0 - foot_support_ratio) / support_sigma))
-    arm_force_z = torch.clamp(torch.sum(arm_sensor.data.net_forces_w[:, :, 2], dim=-1), min=0.0)
+    arm_release_track = torch.exp(-0.5 * torch.square(arm_support_ratio / support_sigma))
+    # Two-stage arm shaping:
+    # - early phase: encourage arm push to lift body
+    # - later phase: encourage releasing arm support for stand-up posture
+    push_phase = torch.sigmoid((0.5 - pelvis_progress) * 20.0)
+    release_phase = 1.0 - push_phase
+    arm_push_signal = torch.sigmoid((arm_force_z - arm_push_threshold) * arm_push_sharpness)
+    arm_push_reward = arm_push_signal * push_phase
+    arm_release_reward = arm_release_track * release_phase
 
+    feet_center_xy = torch.mean(env.scene["robot"].data.body_state_w[:, foot_indices, :2], dim=1)
+    pelvis_xy = pelvis_pos[:, :2]
     feet_to_pelvis_dist = torch.norm(feet_center_xy - pelvis_xy, dim=-1)
-    tuck_legs_reward = torch.exp(-3.0 * feet_to_pelvis_dist)
+    tuck_legs_reward = torch.exp(-2.0 * feet_to_pelvis_dist)
 
-    arm_force_capped = torch.clamp(arm_force_z, min=0.0, max=200.0)
+    posture_reward = (
-    arm_push_reward = arm_force_capped / 200.0
+        head_track_gain * head_track
+        + pelvis_track_gain * pelvis_track
+        + head_progress_gain * head_progress
+        + pelvis_progress_gain * pelvis_progress
+        + head_delta_gain * head_delta
+        + pelvis_delta_gain * pelvis_delta
+        + head_clearance_gain * head_clearance
+        + torso_track_gain * torso_track
+        + upright_track_gain * upright_track
+        + foot_support_gain * foot_support_track
+        + arm_release_gain * arm_release_reward
+        + arm_push_gain * arm_push_reward
+        + tuck_gain * tuck_legs_reward
+    )
 
-    # 🌟 修复 2：把脚底受力加回来，只要脚底板踩实了就给分，引导它脱离跪姿
+    no_foot_penalty = -no_foot_penalty_gain * (1.0 - foot_support_ratio)
-    foot_contact_reward = (foot_force_z > 10.0).float()
+    horizontal_velocity_penalty = -horizontal_vel_penalty_gain * root_lin_speed_xy
+    angular_velocity_penalty = -angular_vel_penalty_gain * root_ang_speed
 
-    ground_factor = torch.clamp(1.0 - raw_height_ratio, min=0.0, max=1.0)
+    left_foot_idx, _ = env.scene["robot"].find_bodies(".*left.*foot.*")
+    right_foot_idx, _ = env.scene["robot"].find_bodies(".*right.*foot.*")
+    if len(left_foot_idx) > 0 and len(right_foot_idx) > 0:
+        left_foot_pos = env.scene["robot"].data.body_state_w[:, left_foot_idx[0], :3]
+        right_foot_pos = env.scene["robot"].data.body_state_w[:, right_foot_idx[0], :3]
+        feet_distance = torch.norm(left_foot_pos[:, :2] - right_foot_pos[:, :2], dim=-1)
+        # Two-stage anti-split penalty:
+        # - soft: penalize widening beyond normal stance width
+        # - hard: strongly suppress large split postures
+        split_soft_excess = torch.clamp(feet_distance - split_soft_limit, min=0.0)
+        split_hard_excess = torch.clamp(feet_distance - split_hard_limit, min=0.0)
+        splits_penalty = (
+            -split_penalty_gain * split_soft_excess
+            -split_hard_penalty_gain * torch.square(split_hard_excess)
+        )
+    else:
+        splits_penalty = torch.zeros_like(head_h)
 
-    # 将脚部接触分加入辅助奖励中
+    total_reward = (
-    aux_reward = ground_factor * (tuck_legs_reward * 0.5 + arm_push_reward * 0.5) + (foot_contact_reward * 0.5)
+        posture_reward
-
+        + no_foot_penalty
-    return core_reward + aux_reward
+        + horizontal_velocity_penalty
+        + angular_velocity_penalty
+        + splits_penalty
+    )
+    env.extras[prev_head_key] = head_h.detach()
+    env.extras[prev_pelvis_key] = pelvis_h.detach()
+    # Down-scale dense shaping to make success bonus relatively more dominant.
+    return internal_reward_scale * total_reward
 
 
-def ground_farming_timeout(
+
-        env: ManagerBasedRLEnv,
+def ground_farming_timeout(env: ManagerBasedRLEnv, max_time: float, height_threshold: float) -> torch.Tensor:
-        max_time: float,
-        height_threshold: float
-) -> torch.Tensor:
     pelvis_idx, _ = env.scene["robot"].find_bodies("Trunk")
     pelvis_h = env.scene["robot"].data.body_state_w[:, pelvis_idx[0], 2]
     episode_time = env.episode_length_buf * env.step_dt
     return ((episode_time > max_time) & (pelvis_h < height_threshold)).bool()
 
 
-def root_height_below_minimum(env: ManagerBasedRLEnv, minimum_height: float) -> torch.Tensor:
+def is_supported_standing(
-    pelvis_idx, _ = env.scene["robot"].find_bodies("Trunk")
-    pelvis_h = env.scene["robot"].data.body_state_w[:, pelvis_idx[0], 2]
-    return (pelvis_h < minimum_height).bool()
-
-
-def is_standing_still(
-        env: ManagerBasedRLEnv,
-        min_head_height: float,
-        min_pelvis_height: float,
-        max_angle_error: float,
-        standing_time: float,
-        velocity_threshold: float = 0.15
-) -> torch.Tensor:
-    head_idx, _ = env.scene["robot"].find_bodies("H2")
-    pelvis_idx, _ = env.scene["robot"].find_bodies("Trunk")
-    current_head_h = env.scene["robot"].data.body_state_w[:, head_idx[0], 2]
-    current_pelvis_h = env.scene["robot"].data.body_state_w[:, pelvis_idx[0], 2]
-    gravity_error = torch.norm(env.scene["robot"].data.projected_gravity_b[:, :2], dim=-1)
-    root_vel_norm = torch.norm(env.scene["robot"].data.root_lin_vel_w, dim=-1)
-
-    is_stable_now = (
-            (current_head_h > min_head_height) &
-            (current_pelvis_h > min_pelvis_height) &
-            (gravity_error < max_angle_error) &
-            (root_vel_norm < velocity_threshold)
-    )
-
-    if "stable_timer" not in env.extras:
-        env.extras["stable_timer"] = torch.zeros(env.num_envs, device=env.device)
-    dt = env.physics_dt * env.cfg.decimation
-    env.extras["stable_timer"] = torch.where(is_stable_now, env.extras["stable_timer"] + dt,
-                                             torch.zeros_like(env.extras["stable_timer"]))
-    return (env.extras["stable_timer"] > standing_time).bool()
-
-
-def anti_flying_penalty(
         env: ManagerBasedRLEnv,
         foot_sensor_cfg: SceneEntityCfg,
         arm_sensor_cfg: SceneEntityCfg,
+        min_head_height: float,
+        min_pelvis_height: float,
+        max_angle_error: float,
+        velocity_threshold: float,
+        min_foot_support_force: float,
+        max_arm_support_force: float,
+        standing_time: float,
+        timer_name: str = "stable_timer",
 ) -> torch.Tensor:
+    head_idx, _ = env.scene["robot"].find_bodies("H2")
     pelvis_idx, _ = env.scene["robot"].find_bodies("Trunk")
+    head_h = env.scene["robot"].data.body_state_w[:, head_idx[0], 2]
     pelvis_h = env.scene["robot"].data.body_state_w[:, pelvis_idx[0], 2]
+    gravity_error = torch.norm(env.scene["robot"].data.projected_gravity_b[:, :2], dim=-1)
+    root_vel_norm = torch.norm(env.scene["robot"].data.root_lin_vel_w, dim=-1)
 
-    foot_sensor = env.scene.sensors.get(foot_sensor_cfg.name)
+    foot_force_z = _contact_force_z(env, foot_sensor_cfg)
-    arm_sensor = env.scene.sensors.get(arm_sensor_cfg.name)
+    arm_force_z = _contact_force_z(env, arm_sensor_cfg)
 
-    foot_force_z = torch.clamp(torch.sum(foot_sensor.data.net_forces_w[:, :, 2], dim=-1), min=0.0)
+    is_stable_now = (
-    arm_force_z = torch.clamp(torch.sum(arm_sensor.data.net_forces_w[:, :, 2], dim=-1), min=0.0)
+        (head_h > min_head_height)
+        & (pelvis_h > min_pelvis_height)
+        & (gravity_error < max_angle_error)
+        & (root_vel_norm < velocity_threshold)
+        & (foot_force_z > min_foot_support_force)
+        & (arm_force_z < max_arm_support_force)
+    )
 
-    # 必须双手双脚都悬空 (< 10N)，才算是在天上飞
+    if timer_name not in env.extras:
-    is_flying = ((pelvis_h > 0.4) & (foot_force_z < 10.0) & (arm_force_z < 10.0)).float()
+        env.extras[timer_name] = torch.zeros(env.num_envs, device=env.device)
-    return is_flying
+
+    dt = env.physics_dt * env.cfg.decimation
+    env.extras[timer_name] = torch.where(
+        is_stable_now, env.extras[timer_name] + dt, torch.zeros_like(env.extras[timer_name])
+    )
+    return (env.extras[timer_name] > standing_time).bool()
 
 
 def base_ang_vel_penalty(env: ManagerBasedRLEnv) -> torch.Tensor:
-    ang_vel = env.scene["robot"].data.root_ang_vel_w
+    return torch.sum(torch.square(env.scene["robot"].data.root_ang_vel_w), dim=-1)
-    return torch.sum(torch.square(ang_vel), dim=-1)
 
 
-def anti_kneeling_penalty(env: ManagerBasedRLEnv) -> torch.Tensor:
+def airborne_flip_penalty(
-    """
+        env: ManagerBasedRLEnv,
-    🛠️ 修复版防跪地机制：
+        foot_sensor_cfg: SceneEntityCfg,
-    使用正则匹配小腿 "Shank.*"。一旦骨盆抬离地面试图站立时，严格惩罚小腿碰地！
+        arm_sensor_cfg: SceneEntityCfg,
-    """
+        full_support_sensor_cfg: SceneEntityCfg,
-    shank_indices, _ = env.scene["robot"].find_bodies("Shank.*")
+        full_support_threshold: float = 12.0,
-    shank_z = env.scene["robot"].data.body_state_w[:, shank_indices, 2]
+        min_pelvis_height: float = 0.34,
-
+        contact_force_threshold: float = 6.0,
-    # 判断是否有任何小腿刚体高度低于 0.15 米
+        flip_ang_vel_threshold: float = 5.4,
-    is_kneeling = torch.any(shank_z < 0.15, dim=-1).float()
+        inverted_gravity_threshold: float = 0.45,
-
+) -> torch.Tensor:
     pelvis_idx, _ = env.scene["robot"].find_bodies("Trunk")
     pelvis_h = env.scene["robot"].data.body_state_w[:, pelvis_idx[0], 2]
-
+    projected_gravity = env.scene["robot"].data.projected_gravity_b
-    return is_kneeling * (pelvis_h > 0.35).float()
+    ang_vel = env.scene["robot"].data.root_ang_vel_w
+    foot_force_z = _contact_force_z(env, foot_sensor_cfg)
+    arm_force_z = _contact_force_z(env, arm_sensor_cfg)
+    support_force = foot_force_z + arm_force_z
+    no_support_ratio = torch.exp(-support_force / contact_force_threshold)
+    full_support_force_z = _contact_force_z(env, full_support_sensor_cfg)
+    is_fully_airborne = full_support_force_z < full_support_threshold
+    airborne_ratio = torch.sigmoid((pelvis_h - min_pelvis_height) * 10.0) * no_support_ratio * is_fully_airborne.float()
+    ang_speed = torch.norm(ang_vel, dim=-1)
+    spin_excess = torch.clamp(ang_speed - flip_ang_vel_threshold, min=0.0)
+    inverted_ratio = torch.clamp((projected_gravity[:, 2] - inverted_gravity_threshold) / (1.0 - inverted_gravity_threshold), min=0.0, max=1.0)
+    return airborne_ratio * (torch.square(spin_excess) + 0.1 * inverted_ratio)
 
 
-# ==========================================
+def airborne_flip_termination(
-# 2. 配置类区
+        env: ManagerBasedRLEnv,
-# ==========================================
+        foot_sensor_cfg: SceneEntityCfg,
+        arm_sensor_cfg: SceneEntityCfg,
+        full_support_sensor_cfg: SceneEntityCfg,
+        full_support_threshold: float = 12.0,
+        min_pelvis_height: float = 0.34,
+        contact_force_threshold: float = 6.0,
+        inverted_gravity_threshold: float = 0.45,
+        flip_ang_vel_threshold: float = 5.6,
+        persist_time: float = 0.18,
+        timer_name: str = "airborne_flip_timer",
+) -> torch.Tensor:
+    pelvis_idx, _ = env.scene["robot"].find_bodies("Trunk")
+    pelvis_h = env.scene["robot"].data.body_state_w[:, pelvis_idx[0], 2]
+    projected_gravity = env.scene["robot"].data.projected_gravity_b
+    ang_vel = env.scene["robot"].data.root_ang_vel_w
+    foot_force_z = _contact_force_z(env, foot_sensor_cfg)
+    arm_force_z = _contact_force_z(env, arm_sensor_cfg)
+    has_no_support = (foot_force_z < contact_force_threshold) & (arm_force_z < contact_force_threshold)
+    full_support_force_z = _contact_force_z(env, full_support_sensor_cfg)
+    is_fully_airborne = full_support_force_z < full_support_threshold
+    is_airborne = (pelvis_h > min_pelvis_height) & has_no_support & is_fully_airborne
+    is_inverted = projected_gravity[:, 2] > inverted_gravity_threshold
+    is_fast_spin = torch.norm(ang_vel, dim=-1) > flip_ang_vel_threshold
+    bad_state = is_airborne & (is_inverted | is_fast_spin)
+
+    if timer_name not in env.extras:
+        env.extras[timer_name] = torch.zeros(env.num_envs, device=env.device)
+    dt = env.physics_dt * env.cfg.decimation
+    env.extras[timer_name] = torch.where(
+        bad_state, env.extras[timer_name] + dt, torch.zeros_like(env.extras[timer_name])
+    )
+    return (env.extras[timer_name] > persist_time).bool()
+
 
 T1_JOINT_NAMES = [
-    'AAHead_yaw', 'Head_pitch',
+    "AAHead_yaw", "Head_pitch",
-    'Left_Shoulder_Pitch', 'Left_Shoulder_Roll', 'Left_Elbow_Pitch', 'Left_Elbow_Yaw',
+    "Left_Shoulder_Pitch", "Left_Shoulder_Roll", "Left_Elbow_Pitch", "Left_Elbow_Yaw",
-    'Right_Shoulder_Pitch', 'Right_Shoulder_Roll', 'Right_Elbow_Pitch', 'Right_Elbow_Yaw',
+    "Right_Shoulder_Pitch", "Right_Shoulder_Roll", "Right_Elbow_Pitch", "Right_Elbow_Yaw",
-    'Waist',
+    "Waist",
-    'Left_Hip_Pitch', 'Right_Hip_Pitch', 'Left_Hip_Roll', 'Right_Hip_Roll',
+    "Left_Hip_Pitch", "Right_Hip_Pitch", "Left_Hip_Roll", "Right_Hip_Roll",
-    'Left_Hip_Yaw', 'Right_Hip_Yaw', 'Left_Knee_Pitch', 'Right_Knee_Pitch',
+    "Left_Hip_Yaw", "Right_Hip_Yaw", "Left_Knee_Pitch", "Right_Knee_Pitch",
-    'Left_Ankle_Pitch', 'Right_Ankle_Pitch', 'Left_Ankle_Roll', 'Right_Ankle_Roll'
+    "Left_Ankle_Pitch", "Right_Ankle_Pitch", "Left_Ankle_Roll", "Right_Ankle_Roll",
 ]
 
 
@@ -188,13 +399,28 @@ class T1ObservationCfg:
     @configclass
     class PolicyCfg(ObsGroup):
         concatenate_terms = True
+        root_height = ObsTerm(func=root_height_obs)
+        head_height = ObsTerm(func=head_height_obs)
+        foot_support_force = ObsTerm(
+            func=foot_support_force_obs,
+            params={"foot_sensor_cfg": SceneEntityCfg("contact_sensor", body_names=[".*_foot_link"]), "norm_force": 120.0},
+        )
+        arm_support_force = ObsTerm(
+            func=arm_support_force_obs,
+            params={"arm_sensor_cfg": SceneEntityCfg("contact_sensor", body_names=["A[LR][23]", ".*_hand_link"]), "norm_force": 120.0},
+        )
+        foot_support_ratio = ObsTerm(
+            func=contact_balance_obs,
+            params={
+                "foot_sensor_cfg": SceneEntityCfg("contact_sensor", body_names=[".*_foot_link"]),
+                "arm_sensor_cfg": SceneEntityCfg("contact_sensor", body_names=["A[LR][23]", ".*_hand_link"]),
+            },
+        )
         base_lin_vel = ObsTerm(func=mdp.base_lin_vel)
         base_ang_vel = ObsTerm(func=mdp.base_ang_vel)
         projected_gravity = ObsTerm(func=mdp.projected_gravity)
-        joint_pos = ObsTerm(func=mdp.joint_pos_rel,
+        joint_pos = ObsTerm(func=mdp.joint_pos_rel, params={"asset_cfg": SceneEntityCfg("robot", joint_names=T1_JOINT_NAMES)})
-                            params={"asset_cfg": SceneEntityCfg("robot", joint_names=T1_JOINT_NAMES)})
+        joint_vel = ObsTerm(func=mdp.joint_vel_rel, params={"asset_cfg": SceneEntityCfg("robot", joint_names=T1_JOINT_NAMES)})
-        joint_vel = ObsTerm(func=mdp.joint_vel_rel,
-                            params={"asset_cfg": SceneEntityCfg("robot", joint_names=T1_JOINT_NAMES)})
         actions = ObsTerm(func=mdp.last_action)
 
     policy = PolicyCfg()
@@ -203,18 +429,15 @@ class T1ObservationCfg:
 @configclass
 class T1EventCfg:
     reset_robot_rotation = EventTerm(
-        func=mdp.reset_root_state_uniform,
+        func=reset_root_state_bimodal_lie_pose,
         params={
             "asset_cfg": SceneEntityCfg("robot"),
-            "pose_range": {
+            "roll_range": (-0.15, 0.15),
-                "roll": (-3.14, 3.14),
+            "pitch_abs_range": (1.40, 1.70),
-                "pitch": (-3.14, 3.14),
+            "yaw_abs_range": (0.0, 3.14),
-                "yaw": (-3.14, 3.14),
+            "x_range": (-0.04, 0.04),
-                "x": (0.0, 0.0),
+            "y_range": (-0.04, 0.04),
-                "y": (0.0, 0.0),
+            "z_range": (0.10, 0.18),
-                "z": (0.45, 0.65),
-            },
-            "velocity_range": {},
         },
         mode="reset",
     )
@@ -222,95 +445,167 @@ class T1EventCfg:
 
 @configclass
 class T1ActionCfg:
+    head_action = JointPositionActionCfg(
+        asset_name="robot", 
+        joint_names=[
+            "AAHead_yaw", "Head_pitch",
+        ], 
+        scale=0.3, 
+        use_default_offset=True
+    )
     arm_action = JointPositionActionCfg(
         asset_name="robot",
         joint_names=[
-            'Left_Shoulder_Pitch', 'Left_Shoulder_Roll', 'Left_Elbow_Pitch', 'Left_Elbow_Yaw',
+            "Left_Shoulder_Pitch", "Left_Shoulder_Roll", "Left_Elbow_Pitch", "Left_Elbow_Yaw",
-            'Right_Shoulder_Pitch', 'Right_Shoulder_Roll', 'Right_Elbow_Pitch', 'Right_Elbow_Yaw'
+            "Right_Shoulder_Pitch", "Right_Shoulder_Roll", "Right_Elbow_Pitch", "Right_Elbow_Yaw",
         ],
-        scale=0.8, use_default_offset=True
+        scale=1.2,
+        use_default_offset=True,
     )
     torso_action = JointPositionActionCfg(
         asset_name="robot", 
-        joint_names=['Waist', 'AAHead_yaw', 'Head_pitch'],
+        joint_names=[
-        scale=0.8, use_default_offset=True
+            "Waist"
+        ], 
+        scale=0.3, 
+        use_default_offset=True
     )
     leg_action = JointPositionActionCfg(
         asset_name="robot",
         joint_names=[
-            'Left_Hip_Pitch', 'Right_Hip_Pitch', 'Left_Hip_Roll', 'Right_Hip_Roll',
+            "Left_Hip_Pitch", "Right_Hip_Pitch", "Left_Hip_Roll", "Right_Hip_Roll", "Left_Hip_Yaw",
-            'Left_Hip_Yaw', 'Right_Hip_Yaw', 'Left_Knee_Pitch', 'Right_Knee_Pitch',
+            "Right_Hip_Yaw", "Left_Knee_Pitch", "Right_Knee_Pitch", "Left_Ankle_Pitch", "Right_Ankle_Pitch",
-            'Left_Ankle_Pitch', 'Right_Ankle_Pitch', 'Left_Ankle_Roll', 'Right_Ankle_Roll'
+            "Left_Ankle_Roll", "Right_Ankle_Roll",
         ],
-        scale=0.8, use_default_offset=True
+        scale=1.5,
+        use_default_offset=True,
     )
 
 
 @configclass
 class T1GetUpRewardCfg:
     smooth_getup = RewTerm(
-        func=smooth_additive_getup_reward, weight=15.0,
+        func=smooth_additive_getup_reward,
+        weight=3.0,
         params={
-            "min_head_height": 1.08, "min_pelvis_height": 0.72,
+            "min_head_height": 1.02,
+            "min_pelvis_height": 0.78,
             "foot_sensor_cfg": SceneEntityCfg("contact_sensor", body_names=[".*_foot_link"]),
-            "arm_sensor_cfg": SceneEntityCfg("contact_sensor", body_names=["A[LR][23]", ".*_hand_link"])
+            "arm_sensor_cfg": SceneEntityCfg("contact_sensor", body_names=["A[LR][23]", ".*_hand_link"]),
-        }
+            "head_track_gain": 7.0,
+            "pelvis_track_gain": 3.2,
+            "head_progress_gain": 3.5,
+            "pelvis_progress_gain": 2.0,
+            "head_clearance_gain": 2.8,
+            "torso_track_gain": 4.2,
+            "upright_track_gain": 3.6,
+            "foot_support_gain": 2.0,
+            "arm_release_gain": 1.2,
+            "arm_push_gain": 2.2,
+            "arm_push_threshold": 10.0,
+            "arm_push_sharpness": 0.12,
+            "head_sigma": 0.09,
+            "pelvis_sigma": 0.08,
+            "torso_sigma": 0.20,
+            "upright_sigma": 0.22,
+            "support_sigma": 0.30,
+            "tuck_gain": 0.6,
+            "no_foot_penalty_gain": 1.2,
+            "horizontal_vel_penalty_gain": 0.18,
+            "angular_vel_penalty_gain": 0.16,
+            "split_penalty_gain": 2.8,
+            "split_soft_limit": 0.33,
+            "split_hard_limit": 0.44,
+            "split_hard_penalty_gain": 9.0,
+            "head_delta_gain": 18.0,
+            "pelvis_delta_gain": 15.0,
+            "internal_reward_scale": 0.45,
+        },
     )
-
+    anti_airborne_flip = RewTerm(
-    anti_fly = RewTerm(
+        func=airborne_flip_penalty,
-        func=anti_flying_penalty,
+        weight=-0.18,
-        weight=-5.0,
         params={
             "foot_sensor_cfg": SceneEntityCfg("contact_sensor", body_names=[".*_foot_link"]),
-            "arm_sensor_cfg": SceneEntityCfg("contact_sensor", body_names=["A[LR][23]", ".*_hand_link"])
+            "arm_sensor_cfg": SceneEntityCfg("contact_sensor", body_names=["A[LR][23]", ".*_hand_link"]),
-        }
+            "full_support_sensor_cfg": SceneEntityCfg("contact_sensor", body_names=[".*"]),
+            "full_support_threshold": 12.0,
+            "min_pelvis_height": 0.34,
+            "contact_force_threshold": 6.0,
+            "flip_ang_vel_threshold": 5.4,
+            "inverted_gravity_threshold": 0.45,
+        },
     )
 
-    # 🌟 新增：重罚小腿触地的跪姿
+    base_ang_vel = RewTerm(func=base_ang_vel_penalty, weight=-0.007)
-    anti_kneeling = RewTerm(func=anti_kneeling_penalty, weight=-3.0)
+    action_rate = RewTerm(func=mdp.action_rate_l2, weight=-0.009)
-
+    joint_vel = RewTerm(func=mdp.joint_vel_l2, weight=-0.005)
-    base_ang_vel = RewTerm(func=base_ang_vel_penalty, weight=-0.05)
+    action_penalty = RewTerm(func=mdp.action_l2, weight=-0.005)
-    action_rate = RewTerm(func=mdp.action_rate_l2, weight=-0.05)
-    joint_vel = RewTerm(func=mdp.joint_vel_l2, weight=-0.01)
-
-    # 🌟 新增：大大降低成功的门槛，诱使它敢于站立
     is_success_bonus = RewTerm(
-        func=is_standing_still,
+        func=is_supported_standing,
         weight=100.0,
         params={
+            "foot_sensor_cfg": SceneEntityCfg("contact_sensor", body_names=[".*_foot_link"]),
+            "arm_sensor_cfg": SceneEntityCfg("contact_sensor", body_names=["A[LR][23]", ".*_hand_link"]),
             "min_head_height": 1.05,
-            "min_pelvis_height": 0.75,
+            "min_pelvis_height": 0.65,
-            "max_angle_error": 0.4,  # 允许一定的弯腰
+            "max_angle_error": 0.25,
-            "standing_time": 0.2,  # 仅需保持 0.1 秒即可拿走巨额赏金！
+            "velocity_threshold": 0.15,
-            "velocity_threshold": 0.8  # 允许身体轻微晃动
+            "min_foot_support_force": 34.0,
-        }
+            "max_arm_support_force": 20.0,
+            "standing_time": 0.40,
+            "timer_name": "reward_stable_timer",
+        },
     )
 
 
 @configclass
 class T1GetUpTerminationsCfg:
     time_out = DoneTerm(func=mdp.time_out)
-    anti_farming = DoneTerm(
+    anti_farming = DoneTerm(func=ground_farming_timeout, params={"max_time": 5.5, "height_threshold": 0.24})
-        func=ground_farming_timeout,
-        params={"max_time": 5.0, "height_threshold": 0.3}
-    )
-    base_height = DoneTerm(func=root_height_below_minimum, params={"minimum_height": -0.2})
     illegal_contact = DoneTerm(
         func=mdp.illegal_contact,
-        params={"sensor_cfg": SceneEntityCfg("contact_sensor", body_names=["Trunk"]), "threshold": 5000.0}
+        params={"sensor_cfg": SceneEntityCfg("contact_sensor", body_names=["Trunk"]), "threshold": 200.0},
     )
     standing_success = DoneTerm(
-        func=is_standing_still,
+        func=is_supported_standing,
         params={
-            "min_head_height": 1.05, "min_pelvis_height": 0.75,
+            "foot_sensor_cfg": SceneEntityCfg("contact_sensor", body_names=[".*_foot_link"]),
-            "max_angle_error": 0.2, "standing_time": 0.5, "velocity_threshold": 0.2
+            "arm_sensor_cfg": SceneEntityCfg("contact_sensor", body_names=["A[LR][23]", ".*_hand_link"]),
-        }
+            "min_head_height": 1.10,
+            "min_pelvis_height": 0.83,
+            "max_angle_error": 0.10,
+            "velocity_threshold": 0.10,
+            "min_foot_support_force": 36.0,
+            "max_arm_support_force": 16.0,
+            "standing_time": 1.0,
+            "timer_name": "term_stable_timer",
+        },
+    )
+    joint_velocity_limit = DoneTerm(
+        func=mdp.joint_vel_out_of_manual_limit,
+        params={"asset_cfg": SceneEntityCfg("robot"), "max_velocity": 50.0},
+    )
+    airborne_flip_abort = DoneTerm(
+        func=airborne_flip_termination,
+        params={
+            "foot_sensor_cfg": SceneEntityCfg("contact_sensor", body_names=[".*_foot_link"]),
+            "arm_sensor_cfg": SceneEntityCfg("contact_sensor", body_names=["A[LR][23]", ".*_hand_link"]),
+            "full_support_sensor_cfg": SceneEntityCfg("contact_sensor", body_names=[".*"]),
+            "full_support_threshold": 12.0,
+            "min_pelvis_height": 0.34,
+            "contact_force_threshold": 6.0,
+            "inverted_gravity_threshold": 0.45,
+            "flip_ang_vel_threshold": 5.6,
+            "persist_time": 0.18,
+            "timer_name": "airborne_flip_timer",
+        },
     )
 
 
 @configclass
 class T1EnvCfg(ManagerBasedRLEnvCfg):
-    scene = T1SceneCfg(num_envs=8192, env_spacing=2.5)
+    scene = T1SceneCfg(num_envs=8192, env_spacing=5.0)
     observations = T1ObservationCfg()
     rewards = T1GetUpRewardCfg()
     terminations = T1GetUpTerminationsCfg()

rl_game/get_up/train.py

@@ -1,99 +1,110 @@
 import sys
 import os
 import argparse
+import glob
+import re
 
-# 确保能找到项目根目录下的模块
+PROJECT_ROOT = os.path.abspath(os.path.join(os.path.dirname(__file__), "../.."))
-sys.path.append(os.path.dirname(os.path.abspath(__file__)))
+if PROJECT_ROOT not in sys.path:
+    sys.path.insert(0, PROJECT_ROOT)
 
 from isaaclab.app import AppLauncher
 
-# 1. 配置启动参数
+parser = argparse.ArgumentParser(description="Train T1 get-up policy.")
-parser = argparse.ArgumentParser(description="Train T1 robot to Get-Up with RL-Games.")
+parser.add_argument("--num_envs", type=int, default=8192, help="Number of parallel environments")
-parser.add_argument("--num_envs", type=int, default=8192, help="起身任务建议并行 4096 即可")
+parser.add_argument("--seed", type=int, default=42, help="Random seed")
-parser.add_argument("--task", type=str, default="Isaac-T1-GetUp-v0", help="任务 ID")
-parser.add_argument("--seed", type=int, default=42, help="随机种子")
 AppLauncher.add_app_launcher_args(parser)
 args_cli = parser.parse_args()
 
-# 2. 启动仿真器（必须在导入其他 isaaclab 模块前）
 app_launcher = AppLauncher(args_cli)
 simulation_app = app_launcher.app
 
-import torch
 import gymnasium as gym
 import yaml
 from isaaclab_rl.rl_games import RlGamesVecEnvWrapper
 from rl_games.torch_runner import Runner
 from rl_games.common import env_configurations, vecenv
 
-# 导入你刚刚修改好的配置类
+from rl_game.get_up.config.t1_env_cfg import T1EnvCfg
-# 假设你的文件名是 t1_getup_cfg.py，类名是 T1EnvCfg
-from config.t1_env_cfg import T1EnvCfg
 
-# 3. 注册环境
+
-gym.register(
+def _parse_reward_from_last_ckpt(path: str) -> float:
-    id="Isaac-T1-GetUp-v0",
+    """Extract reward value from checkpoint name like '..._rew_123.45.pth'."""
-    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    match = re.search(r"_rew_(-?\d+(?:\.\d+)?)\.pth$", os.path.basename(path))
-    kwargs={
+    if match is None:
-        "cfg": T1EnvCfg(),  # 这里会加载你设置的随机旋转、时间惩罚等
+        return float("-inf")
-    },
+    return float(match.group(1))
-)
+
+
+def _find_best_resume_checkpoint(log_dir: str, run_name: str) -> str | None:
+    """Find previous best checkpoint across historical runs."""
+    run_dirs = sorted(
+        [
+            p
+            for p in glob.glob(os.path.join(log_dir, f"{run_name}_*"))
+            if os.path.isdir(p)
+        ],
+        key=os.path.getmtime,
+        reverse=True,
+    )
+
+    # Priority 1: canonical best checkpoint from latest available run.
+    for run_dir in run_dirs:
+        best_ckpt = os.path.join(run_dir, "nn", f"{run_name}.pth")
+        if os.path.exists(best_ckpt):
+            return best_ckpt
+
+    # Priority 2: best "last_*_rew_*.pth" among all runs (highest reward).
+    candidates: list[tuple[float, str]] = []
+    for run_dir in run_dirs:
+        pattern = os.path.join(run_dir, "nn", f"last_{run_name}_ep_*_rew_*.pth")
+        for ckpt in glob.glob(pattern):
+            candidates.append((_parse_reward_from_last_ckpt(ckpt), ckpt))
+    if candidates:
+        candidates.sort(key=lambda x: x[0], reverse=True)
+        return candidates[0][1]
+
+    return None
 
 
 def main():
-    # --- 新增：处理 Retrain 参数 ---
+    task_id = "Isaac-T1-GetUp-v0"
-    # 你可以手动指定路径，或者在 argparse 里增加一个 --checkpoint 参数
+    if task_id not in gym.registry:
-    checkpoint_path = os.path.join(os.path.dirname(__file__), "logs/T1_GetUp/nn/T1_GetUp.pth")
+        gym.register(
-    # 检查模型文件是否存在
+            id=task_id,
-    should_retrain = os.path.exists(checkpoint_path)
+            entry_point="isaaclab.envs:ManagerBasedRLEnv",
-
+            kwargs={"cfg": T1EnvCfg()},
-    env = gym.make("Isaac-T1-GetUp-v0", num_envs=args_cli.num_envs)
-
-    # 注意：rl_device 必须设置为 args_cli.device (通常是 'cuda:0')
-    wrapped_env = RlGamesVecEnvWrapper(
-        env,
-        rl_device=args_cli.device,
-        clip_obs=5.0,
-        clip_actions=1.0
         )
 
-    vecenv.register('as_is', lambda config_name, num_actors, **kwargs: wrapped_env)
+    env = gym.make(task_id, num_envs=args_cli.num_envs, disable_env_checker=True)
+    wrapped_env = RlGamesVecEnvWrapper(env, rl_device=args_cli.device, clip_obs=5.0, clip_actions=1.0)
 
-    env_configurations.register('rlgym', {
+    vecenv.register("as_is", lambda config_name, num_actors, **kwargs: wrapped_env)
-        'vecenv_type': 'as_is',
+    env_configurations.register("rlgym", {"vecenv_type": "as_is", "env_creator": lambda **kwargs: wrapped_env})
-        'env_creator': lambda **kwargs: wrapped_env
-    })
 
     config_path = os.path.join(os.path.dirname(__file__), "config", "ppo_cfg.yaml")
     with open(config_path, "r") as f:
         rl_config = yaml.safe_load(f)
 
-    # 设置日志和实验名称
+    run_name = "T1_GetUp"
-    rl_game_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), "."))
+    log_dir = os.path.join(os.path.dirname(__file__), "logs")
-    log_dir = os.path.join(rl_game_dir, "logs")
+    rl_config["params"]["config"]["train_dir"] = log_dir
-    rl_config['params']['config']['train_dir'] = log_dir
+    rl_config["params"]["config"]["name"] = run_name
-    rl_config['params']['config']['name'] = "T1_GetUp"
+    rl_config["params"]["config"]["env_name"] = "rlgym"
 
-    # --- 关键修改：注入模型路径 ---
+    checkpoint_path = None #_find_best_resume_checkpoint(log_dir, run_name)
-    if should_retrain:
+    if checkpoint_path is not None:
-        print(f"[INFO]: 检测到预训练模型，正在从 {checkpoint_path} 恢复训练...")
+        print(f"[INFO]: resume from checkpoint: {checkpoint_path}")
-        # rl_games 会读取 config 中的 load_path 进行续训
+        rl_config["params"]["config"]["load_path"] = checkpoint_path
-        rl_config['params']['config']['load_path'] = checkpoint_path
     else:
-        print("[INFO]: 未找到预训练模型，将从零开始训练。")
+        print("[INFO]: no checkpoint found, train from scratch")
 
-    # 7. 运行训练
     runner = Runner()
     runner.load(rl_config)
-
+    try:
-    runner.run({
+        runner.run({"train": True, "play": False, "checkpoint": checkpoint_path, "vec_env": wrapped_env})
-        "train": True,
+    finally:
-        "play": False,
+        wrapped_env.close()
-        # 如果你想强制从某个 checkpoint 开始，也可以在这里传参
-        "checkpoint": checkpoint_path if should_retrain else None,
-        "vec_env": wrapped_env
-    })
-
         simulation_app.close()