烘箱和unitree

scripts/tools/record_demos.py

@@ -27,10 +27,27 @@ optional arguments:
 # Standard library imports
 import argparse
 import contextlib
+import os
+import sys
+import traceback
 
 # Isaac Lab AppLauncher
 from isaaclab.app import AppLauncher
 
+# Ensure local workspace packages are importable before any mindbot imports.
+# The repository contains the Python package under source/mindbot, while this
+# script lives under scripts/tools. Without adding these paths early, Python may
+# resolve to an older installed mindbot package that still uses the legacy G1
+# tri-hand joint names (for example: left_hand_index_0_joint).
+_REPO_ROOT = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
+_LOCAL_IMPORT_PATHS = (
+    os.path.join(_REPO_ROOT, "source", "mindbot"),
+    _REPO_ROOT,
+)
+for _path in reversed(_LOCAL_IMPORT_PATHS):
+    if _path not in sys.path:
+        sys.path.insert(0, _path)
+
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Record demonstrations for Isaac Lab environments.")
 parser.add_argument("--task", type=str, required=True, help="Name of the task.")
@@ -91,8 +108,6 @@ simulation_app = app_launcher.app
 
 # Third-party imports
 import logging
-import os
-import sys
 import time
 
 import gymnasium as gym
@@ -107,9 +122,13 @@ from isaaclab.devices.teleop_device_factory import create_teleop_device
 import isaaclab_mimic.envs  # noqa: F401
 from isaaclab_mimic.ui.instruction_display import InstructionDisplay, show_subtask_instructions
 
+# if args_cli.enable_pinocchio:
+#     import isaaclab_tasks.manager_based.locomanipulation.pick_place  # noqa: F401
+#     import isaaclab_tasks.manager_based.manipulation.pick_place  # noqa: F401
 if args_cli.enable_pinocchio:
-    import isaaclab_tasks.manager_based.locomanipulation.pick_place  # noqa: F401
-    import isaaclab_tasks.manager_based.manipulation.pick_place  # noqa: F401
+    import mindbot.tasks.manager_based.il.locomanipulation.pick_place  # noqa: F401
+    import mindbot.tasks.manager_based.il.manipulation.pick_place  # noqa: F401
+
 
 from collections.abc import Callable
 
@@ -118,11 +137,6 @@ from isaaclab.envs.mdp.recorders.recorders_cfg import ActionStateRecorderManager
 from isaaclab.envs.ui import EmptyWindow
 from isaaclab.managers import DatasetExportMode
 
-# Add workspace root to sys.path so mindrobot_keyboard is importable as a package path.
-# record_demos.py lives at scripts/tools/, workspace root is three levels up.
-_ws_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
-if _ws_root not in sys.path:
-    sys.path.insert(0, _ws_root)
 from scripts.environments.teleoperation.mindrobot_keyboard import MindRobotCombinedKeyboard  # noqa: E402
 
 import isaaclab_tasks  # noqa: F401
@@ -265,6 +279,7 @@ def create_environment(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg) -> gym.En
         return env
     except Exception as e:
         logger.error(f"Failed to create environment: {e}")
+        traceback.print_exc()
         exit(1)