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 mindbot.tasks.manager_based.il.locomanipulation.pick_place  # noqa: F401
-    import isaaclab_tasks.manager_based.manipulation.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)
 
 

source/mindbot/mindbot/assets/dryingbox.py

@@ -3,21 +3,29 @@ from isaaclab.actuators import ImplicitActuatorCfg
 from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
-from isaaclab.sim.schemas.schemas_cfg import (
+# from isaaclab.sim.schemas.schemas_cfg import (
-    RigidBodyPropertiesCfg,
+#     RigidBodyPropertiesCfg,
-    CollisionPropertiesCfg,
+#     CollisionPropertiesCfg,
-)
+# )
 from mindbot.utils.assets import MINDBOT_ASSETS_DIR
 
 DRYINGBOX_CFG = ArticulationCfg(
     spawn=sim_utils.UsdFileCfg(
-        usd_path=f"{MINDBOT_ASSETS_DIR}/devices/DryingBox/Equipment_BB_13.usd",
+        usd_path=f"{MINDBOT_ASSETS_DIR}/devices/Collected_Equipment_BB_13(1)/Collected_Equipment_BB_13/Equipment_BB_13.usd",
+        activate_contact_sensors=False,
         rigid_props=sim_utils.RigidBodyPropertiesCfg(
             disable_gravity=False,
-            max_depenetration_velocity=1.0
+            max_depenetration_velocity=100.0,  # 增大：穿透后更快弹出
+            linear_damping=0.5,
+            angular_damping=0.5,
+        ),
+        collision_props=sim_utils.CollisionPropertiesCfg(
+            collision_enabled=True,
+            contact_offset=0.01,    # 增大到10mm：提前检测接触，避免高速漏检
+            rest_offset=0.001,      # 略小于 contact_offset
         ),
         articulation_props=sim_utils.ArticulationRootPropertiesCfg(
-            fix_root_link=False,
+            # fix_root_link=True,  # 固定烘箱根节点，防止碰撞时整体位移加剧穿透
             enabled_self_collisions=False,
             solver_position_iteration_count=32,
             solver_velocity_iteration_count=16,
@@ -27,15 +35,28 @@ DRYINGBOX_CFG = ArticulationCfg(
     init_state=ArticulationCfg.InitialStateCfg(
         pos=[1.95, -0.45, 0.9], rot=[-0.7071, 0.0, 0.0, 0.7071]
     ),
-    # actuators={}
     actuators={
-        "passive_damper": ImplicitActuatorCfg(
+        "door_joint": ImplicitActuatorCfg(
-            # ".*" 表示匹配该USD文件内的所有关节（无论是轮子、屏幕转轴还是其他）
+            joint_names_expr=["door_revoluteJoint"],
-            joint_names_expr=["RevoluteJoint"],
+            damping=0.5,
-            stiffness=10000.0,
+            stiffness=0.0,          # 初始被动；teleop 主循环触发后锁定
-            damping=1000.0,
+            effort_limit_sim=200.0,
-            effort_limit_sim=10000.0,
+        ),
-            velocity_limit_sim=100.0,
+        "hand_joint": ImplicitActuatorCfg(
+            joint_names_expr=["hand_revoluteJoint"],
+            stiffness=0.0,          # 初始被动；event term 动态切换到 1000.0 触发锁定
+            damping=0.5,
+            effort_limit_sim=200.0, # 锁定时 stiffness=1000 需要足够的驱动力
         ),
     },
+    # actuators={
+    #     "passive_damper": ImplicitActuatorCfg(
+    #         # ".*" 表示匹配该USD文件内的所有关节（无论是轮子、屏幕转轴还是其他）
+    #         joint_names_expr=["RevoluteJoint"],
+    #         stiffness=2e3,
+    #         damping=1e2,
+    #         effort_limit_sim=200.0,
+    #         velocity_limit_sim=20.0,
+    #     ),
+    # },
 )

source/mindbot/mindbot/robot/unitree.py

@@ -0,0 +1,612 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Configuration for Unitree robots.
+
+The following configurations are available:
+
+* :obj:`UNITREE_A1_CFG`: Unitree A1 robot with DC motor model for the legs
+* :obj:`UNITREE_GO1_CFG`: Unitree Go1 robot with actuator net model for the legs
+* :obj:`UNITREE_GO2_CFG`: Unitree Go2 robot with DC motor model for the legs
+* :obj:`H1_CFG`: H1 humanoid robot
+* :obj:`H1_MINIMAL_CFG`: H1 humanoid robot with minimal collision bodies
+* :obj:`G1_CFG`: G1 humanoid robot
+* :obj:`G1_MINIMAL_CFG`: G1 humanoid robot with minimal collision bodies
+* :obj:`G1_29DOF_CFG`: G1 humanoid robot configured for locomanipulation tasks
+* :obj:`G1_INSPIRE_FTP_CFG`: G1 29DOF humanoid robot with Inspire 5-finger hand
+
+Reference: https://github.com/unitreerobotics/unitree_ros
+"""
+
+import isaaclab.sim as sim_utils
+from isaaclab.actuators import ActuatorNetMLPCfg, DCMotorCfg, ImplicitActuatorCfg
+from isaaclab.assets.articulation import ArticulationCfg
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
+from mindbot.utils.assets import MINDBOT_ASSETS_DIR
+
+##
+# Configuration - Actuators.
+##
+
+GO1_ACTUATOR_CFG = ActuatorNetMLPCfg(
+    joint_names_expr=[".*_hip_joint", ".*_thigh_joint", ".*_calf_joint"],
+    network_file=f"{ISAACLAB_NUCLEUS_DIR}/ActuatorNets/Unitree/unitree_go1.pt",
+    pos_scale=-1.0,
+    vel_scale=1.0,
+    torque_scale=1.0,
+    input_order="pos_vel",
+    input_idx=[0, 1, 2],
+    effort_limit=23.7,  # taken from spec sheet
+    velocity_limit=30.0,  # taken from spec sheet
+    saturation_effort=23.7,  # same as effort limit
+)
+"""Configuration of Go1 actuators using MLP model.
+
+Actuator specifications: https://shop.unitree.com/products/go1-motor
+
+This model is taken from: https://github.com/Improbable-AI/walk-these-ways
+"""
+
+
+##
+# Configuration
+##
+
+
+UNITREE_A1_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/A1/a1.usd",
+        activate_contact_sensors=True,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            retain_accelerations=False,
+            linear_damping=0.0,
+            angular_damping=0.0,
+            max_linear_velocity=1000.0,
+            max_angular_velocity=1000.0,
+            max_depenetration_velocity=1.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=False, solver_position_iteration_count=4, solver_velocity_iteration_count=0
+        ),
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        pos=(0.0, 0.0, 0.42),
+        joint_pos={
+            ".*L_hip_joint": 0.1,
+            ".*R_hip_joint": -0.1,
+            "F[L,R]_thigh_joint": 0.8,
+            "R[L,R]_thigh_joint": 1.0,
+            ".*_calf_joint": -1.5,
+        },
+        joint_vel={".*": 0.0},
+    ),
+    soft_joint_pos_limit_factor=0.9,
+    actuators={
+        "base_legs": DCMotorCfg(
+            joint_names_expr=[".*_hip_joint", ".*_thigh_joint", ".*_calf_joint"],
+            effort_limit=33.5,
+            saturation_effort=33.5,
+            velocity_limit=21.0,
+            stiffness=25.0,
+            damping=0.5,
+            friction=0.0,
+        ),
+    },
+)
+"""Configuration of Unitree A1 using DC motor.
+
+Note: Specifications taken from: https://www.trossenrobotics.com/a1-quadruped#specifications
+"""
+
+
+UNITREE_GO1_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/Go1/go1.usd",
+        activate_contact_sensors=True,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            retain_accelerations=False,
+            linear_damping=0.0,
+            angular_damping=0.0,
+            max_linear_velocity=1000.0,
+            max_angular_velocity=1000.0,
+            max_depenetration_velocity=1.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=False, solver_position_iteration_count=4, solver_velocity_iteration_count=0
+        ),
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        pos=(0.0, 0.0, 0.4),
+        joint_pos={
+            ".*L_hip_joint": 0.1,
+            ".*R_hip_joint": -0.1,
+            "F[L,R]_thigh_joint": 0.8,
+            "R[L,R]_thigh_joint": 1.0,
+            ".*_calf_joint": -1.5,
+        },
+        joint_vel={".*": 0.0},
+    ),
+    soft_joint_pos_limit_factor=0.9,
+    actuators={
+        "base_legs": GO1_ACTUATOR_CFG,
+    },
+)
+"""Configuration of Unitree Go1 using MLP-based actuator model."""
+
+
+UNITREE_GO2_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/Go2/go2.usd",
+        activate_contact_sensors=True,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            retain_accelerations=False,
+            linear_damping=0.0,
+            angular_damping=0.0,
+            max_linear_velocity=1000.0,
+            max_angular_velocity=1000.0,
+            max_depenetration_velocity=1.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=False, solver_position_iteration_count=4, solver_velocity_iteration_count=0
+        ),
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        pos=(0.0, 0.0, 0.4),
+        joint_pos={
+            ".*L_hip_joint": 0.1,
+            ".*R_hip_joint": -0.1,
+            "F[L,R]_thigh_joint": 0.8,
+            "R[L,R]_thigh_joint": 1.0,
+            ".*_calf_joint": -1.5,
+        },
+        joint_vel={".*": 0.0},
+    ),
+    soft_joint_pos_limit_factor=0.9,
+    actuators={
+        "base_legs": DCMotorCfg(
+            joint_names_expr=[".*_hip_joint", ".*_thigh_joint", ".*_calf_joint"],
+            effort_limit=23.5,
+            saturation_effort=23.5,
+            velocity_limit=30.0,
+            stiffness=25.0,
+            damping=0.5,
+            friction=0.0,
+        ),
+    },
+)
+"""Configuration of Unitree Go2 using DC-Motor actuator model."""
+
+
+H1_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/H1/h1.usd",
+        activate_contact_sensors=True,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            retain_accelerations=False,
+            linear_damping=0.0,
+            angular_damping=0.0,
+            max_linear_velocity=1000.0,
+            max_angular_velocity=1000.0,
+            max_depenetration_velocity=1.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=False, solver_position_iteration_count=4, solver_velocity_iteration_count=4
+        ),
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        pos=(0.0, 0.0, 1.05),
+        joint_pos={
+            ".*_hip_yaw": 0.0,
+            ".*_hip_roll": 0.0,
+            ".*_hip_pitch": -0.28,  # -16 degrees
+            ".*_knee": 0.79,  # 45 degrees
+            ".*_ankle": -0.52,  # -30 degrees
+            "torso": 0.0,
+            ".*_shoulder_pitch": 0.28,
+            ".*_shoulder_roll": 0.0,
+            ".*_shoulder_yaw": 0.0,
+            ".*_elbow": 0.52,
+        },
+        joint_vel={".*": 0.0},
+    ),
+    soft_joint_pos_limit_factor=0.9,
+    actuators={
+        "legs": ImplicitActuatorCfg(
+            joint_names_expr=[".*_hip_yaw", ".*_hip_roll", ".*_hip_pitch", ".*_knee", "torso"],
+            effort_limit_sim=300,
+            stiffness={
+                ".*_hip_yaw": 150.0,
+                ".*_hip_roll": 150.0,
+                ".*_hip_pitch": 200.0,
+                ".*_knee": 200.0,
+                "torso": 200.0,
+            },
+            damping={
+                ".*_hip_yaw": 5.0,
+                ".*_hip_roll": 5.0,
+                ".*_hip_pitch": 5.0,
+                ".*_knee": 5.0,
+                "torso": 5.0,
+            },
+        ),
+        "feet": ImplicitActuatorCfg(
+            joint_names_expr=[".*_ankle"],
+            effort_limit_sim=100,
+            stiffness={".*_ankle": 20.0},
+            damping={".*_ankle": 4.0},
+        ),
+        "arms": ImplicitActuatorCfg(
+            joint_names_expr=[".*_shoulder_pitch", ".*_shoulder_roll", ".*_shoulder_yaw", ".*_elbow"],
+            effort_limit_sim=300,
+            stiffness={
+                ".*_shoulder_pitch": 40.0,
+                ".*_shoulder_roll": 40.0,
+                ".*_shoulder_yaw": 40.0,
+                ".*_elbow": 40.0,
+            },
+            damping={
+                ".*_shoulder_pitch": 10.0,
+                ".*_shoulder_roll": 10.0,
+                ".*_shoulder_yaw": 10.0,
+                ".*_elbow": 10.0,
+            },
+        ),
+    },
+)
+"""Configuration for the Unitree H1 Humanoid robot."""
+
+
+H1_MINIMAL_CFG = H1_CFG.copy()
+H1_MINIMAL_CFG.spawn.usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/H1/h1_minimal.usd"
+"""Configuration for the Unitree H1 Humanoid robot with fewer collision meshes.
+
+This configuration removes most collision meshes to speed up simulation.
+"""
+
+
+G1_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/G1/g1.usd",
+        activate_contact_sensors=True,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            retain_accelerations=False,
+            linear_damping=0.0,
+            angular_damping=0.0,
+            max_linear_velocity=1000.0,
+            max_angular_velocity=1000.0,
+            max_depenetration_velocity=1.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=False, solver_position_iteration_count=8, solver_velocity_iteration_count=4
+        ),
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        pos=(0.0, 0.0, 0.74),
+        joint_pos={
+            ".*_hip_pitch_joint": -0.20,
+            ".*_knee_joint": 0.42,
+            ".*_ankle_pitch_joint": -0.23,
+            ".*_elbow_pitch_joint": 0.87,
+            "left_shoulder_roll_joint": 0.16,
+            "left_shoulder_pitch_joint": 0.35,
+            "right_shoulder_roll_joint": -0.16,
+            "right_shoulder_pitch_joint": 0.35,
+            "left_one_joint": 1.0,
+            "right_one_joint": -1.0,
+            "left_two_joint": 0.52,
+            "right_two_joint": -0.52,
+        },
+        joint_vel={".*": 0.0},
+    ),
+    soft_joint_pos_limit_factor=0.9,
+    actuators={
+        "legs": ImplicitActuatorCfg(
+            joint_names_expr=[
+                ".*_hip_yaw_joint",
+                ".*_hip_roll_joint",
+                ".*_hip_pitch_joint",
+                ".*_knee_joint",
+                "torso_joint",
+            ],
+            effort_limit_sim=300,
+            stiffness={
+                ".*_hip_yaw_joint": 150.0,
+                ".*_hip_roll_joint": 150.0,
+                ".*_hip_pitch_joint": 200.0,
+                ".*_knee_joint": 200.0,
+                "torso_joint": 200.0,
+            },
+            damping={
+                ".*_hip_yaw_joint": 5.0,
+                ".*_hip_roll_joint": 5.0,
+                ".*_hip_pitch_joint": 5.0,
+                ".*_knee_joint": 5.0,
+                "torso_joint": 5.0,
+            },
+            armature={
+                ".*_hip_.*": 0.01,
+                ".*_knee_joint": 0.01,
+                "torso_joint": 0.01,
+            },
+        ),
+        "feet": ImplicitActuatorCfg(
+            effort_limit_sim=20,
+            joint_names_expr=[".*_ankle_pitch_joint", ".*_ankle_roll_joint"],
+            stiffness=20.0,
+            damping=2.0,
+            armature=0.01,
+        ),
+        "arms": ImplicitActuatorCfg(
+            joint_names_expr=[
+                ".*_shoulder_pitch_joint",
+                ".*_shoulder_roll_joint",
+                ".*_shoulder_yaw_joint",
+                ".*_elbow_pitch_joint",
+                ".*_elbow_roll_joint",
+                ".*_five_joint",
+                ".*_three_joint",
+                ".*_six_joint",
+                ".*_four_joint",
+                ".*_zero_joint",
+                ".*_one_joint",
+                ".*_two_joint",
+            ],
+            effort_limit_sim=300,
+            stiffness=40.0,
+            damping=10.0,
+            armature={
+                ".*_shoulder_.*": 0.01,
+                ".*_elbow_.*": 0.01,
+                ".*_five_joint": 0.001,
+                ".*_three_joint": 0.001,
+                ".*_six_joint": 0.001,
+                ".*_four_joint": 0.001,
+                ".*_zero_joint": 0.001,
+                ".*_one_joint": 0.001,
+                ".*_two_joint": 0.001,
+            },
+        ),
+    },
+)
+"""Configuration for the Unitree G1 Humanoid robot."""
+
+
+G1_MINIMAL_CFG = G1_CFG.copy()
+G1_MINIMAL_CFG.spawn.usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/G1/g1_minimal.usd"
+"""Configuration for the Unitree G1 Humanoid robot with fewer collision meshes.
+
+This configuration removes most collision meshes to speed up simulation.
+"""
+
+
+G1_29DOF_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Unitree/G1/g1.usd",
+        activate_contact_sensors=False,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            retain_accelerations=False,
+            linear_damping=0.0,
+            angular_damping=0.0,
+            max_linear_velocity=1000.0,
+            max_angular_velocity=1000.0,
+            max_depenetration_velocity=1.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=False,
+            fix_root_link=False,  # Configurable - can be set to True for fixed base
+            solver_position_iteration_count=8,
+            solver_velocity_iteration_count=4,
+        ),
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        pos=(0.0, 0.0, 0.75),
+        rot=(0.7071, 0, 0, 0.7071),
+        joint_pos={
+            ".*_hip_pitch_joint": -0.10,
+            ".*_knee_joint": 0.30,
+            ".*_ankle_pitch_joint": -0.20,
+        },
+        joint_vel={".*": 0.0},
+    ),
+    soft_joint_pos_limit_factor=0.9,
+    actuators={
+        "legs": DCMotorCfg(
+            joint_names_expr=[
+                ".*_hip_yaw_joint",
+                ".*_hip_roll_joint",
+                ".*_hip_pitch_joint",
+                ".*_knee_joint",
+            ],
+            effort_limit={
+                ".*_hip_yaw_joint": 88.0,
+                ".*_hip_roll_joint": 88.0,
+                ".*_hip_pitch_joint": 88.0,
+                ".*_knee_joint": 139.0,
+            },
+            velocity_limit={
+                ".*_hip_yaw_joint": 32.0,
+                ".*_hip_roll_joint": 32.0,
+                ".*_hip_pitch_joint": 32.0,
+                ".*_knee_joint": 20.0,
+            },
+            stiffness={
+                ".*_hip_yaw_joint": 100.0,
+                ".*_hip_roll_joint": 100.0,
+                ".*_hip_pitch_joint": 100.0,
+                ".*_knee_joint": 200.0,
+            },
+            damping={
+                ".*_hip_yaw_joint": 2.5,
+                ".*_hip_roll_joint": 2.5,
+                ".*_hip_pitch_joint": 2.5,
+                ".*_knee_joint": 5.0,
+            },
+            armature={
+                ".*_hip_.*": 0.03,
+                ".*_knee_joint": 0.03,
+            },
+            saturation_effort=180.0,
+        ),
+        "feet": DCMotorCfg(
+            joint_names_expr=[".*_ankle_pitch_joint", ".*_ankle_roll_joint"],
+            stiffness={
+                ".*_ankle_pitch_joint": 20.0,
+                ".*_ankle_roll_joint": 20.0,
+            },
+            damping={
+                ".*_ankle_pitch_joint": 0.2,
+                ".*_ankle_roll_joint": 0.1,
+            },
+            effort_limit={
+                ".*_ankle_pitch_joint": 50.0,
+                ".*_ankle_roll_joint": 50.0,
+            },
+            velocity_limit={
+                ".*_ankle_pitch_joint": 37.0,
+                ".*_ankle_roll_joint": 37.0,
+            },
+            armature=0.03,
+            saturation_effort=80.0,
+        ),
+        "waist": ImplicitActuatorCfg(
+            joint_names_expr=[
+                "waist_.*_joint",
+            ],
+            effort_limit={
+                "waist_yaw_joint": 88.0,
+                "waist_roll_joint": 50.0,
+                "waist_pitch_joint": 50.0,
+            },
+            velocity_limit={
+                "waist_yaw_joint": 32.0,
+                "waist_roll_joint": 37.0,
+                "waist_pitch_joint": 37.0,
+            },
+            stiffness={
+                "waist_yaw_joint": 5000.0,
+                "waist_roll_joint": 5000.0,
+                "waist_pitch_joint": 5000.0,
+            },
+            damping={
+                "waist_yaw_joint": 5.0,
+                "waist_roll_joint": 5.0,
+                "waist_pitch_joint": 5.0,
+            },
+            armature=0.001,
+        ),
+        "arms": ImplicitActuatorCfg(
+            joint_names_expr=[
+                ".*_shoulder_pitch_joint",
+                ".*_shoulder_roll_joint",
+                ".*_shoulder_yaw_joint",
+                ".*_elbow_joint",
+                ".*_wrist_.*_joint",
+            ],
+            effort_limit=300,
+            velocity_limit=100,
+            stiffness=3000.0,
+            damping=10.0,
+            armature={
+                ".*_shoulder_.*": 0.001,
+                ".*_elbow_.*": 0.001,
+                ".*_wrist_.*_joint": 0.001,
+            },
+        ),
+        "hands": ImplicitActuatorCfg(
+            joint_names_expr=[
+                ".*_index_.*",
+                ".*_middle_.*",
+                ".*_thumb_.*",
+            ],
+            effort_limit=300,
+            velocity_limit=100,
+            stiffness=20,
+            damping=2,
+            armature=0.001,
+        ),
+    },
+    prim_path="/World/envs/env_.*/Robot",
+)
+"""Configuration for the Unitree G1 Humanoid robot for locomanipulation tasks.
+
+This configuration sets up the G1 humanoid robot for locomanipulation tasks,
+allowing both locomotion and manipulation capabilities. The robot can be configured
+for either fixed base or mobile scenarios by modifying the fix_root_link parameter.
+
+Key features:
+- Configurable base (fixed or mobile) via fix_root_link parameter
+- Optimized actuator parameters for locomanipulation tasks
+- Enhanced hand and arm configurations for manipulation
+
+Usage examples:
+    # For fixed base scenarios (upper body manipulation only)
+    fixed_base_cfg = G1_29DOF_CFG.copy()
+    fixed_base_cfg.spawn.articulation_props.fix_root_link = True
+
+    # For mobile scenarios (locomotion + manipulation)
+    mobile_cfg = G1_29DOF_CFG.copy()
+    mobile_cfg.spawn.articulation_props.fix_root_link = False
+"""
+
+"""
+Configuration for the Unitree G1 Humanoid robot with Inspire 5fingers hand.
+The Unitree G1 URDF can be found here: https://github.com/unitreerobotics/unitree_ros/tree/master/robots/g1_description/g1_29dof_with_hand_rev_1_0.urdf
+The Inspire hand URDF is available at: https://github.com/unitreerobotics/xr_teleoperate/tree/main/assets/inspire_hand
+The merging code for the hand and robot can be found here: https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/merge_g1_29dof_and_inspire_hand.ipynb,
+Necessary modifications should be made to ensure the correct parent–child relationship.
+"""
+# Inherit PD settings from G1_29DOF_CFG, with minor adjustments for grasping task
+G1_INSPIRE_FTP_CFG = G1_29DOF_CFG.copy()
+G1_INSPIRE_FTP_CFG.spawn.usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Robots/Unitree/G1/g1_29dof_inspire_hand.usd"
+G1_INSPIRE_FTP_CFG.spawn.activate_contact_sensors = True
+G1_INSPIRE_FTP_CFG.spawn.rigid_props.disable_gravity = True
+G1_INSPIRE_FTP_CFG.spawn.articulation_props.fix_root_link = True
+G1_INSPIRE_FTP_CFG.init_state = ArticulationCfg.InitialStateCfg(
+    pos=(0.0, 0.0, 1.0),
+    joint_pos={".*": 0.0},
+    joint_vel={".*": 0.0},
+)
+# Actuator configuration for arms (stability focused for manipulation)
+# Increased damping improves stability of arm movements
+G1_INSPIRE_FTP_CFG.actuators["arms"] = ImplicitActuatorCfg(
+    joint_names_expr=[
+        ".*_shoulder_pitch_joint",
+        ".*_shoulder_roll_joint",
+        ".*_shoulder_yaw_joint",
+        ".*_elbow_joint",
+        ".*_wrist_.*_joint",
+    ],
+    effort_limit=300,
+    velocity_limit=100,
+    stiffness=3000.0,
+    damping=100.0,
+    armature={
+        ".*_shoulder_.*": 0.001,
+        ".*_elbow_.*": 0.001,
+        ".*_wrist_.*_joint": 0.001,
+    },
+)
+# Actuator configuration for hands (flexibility focused for grasping)
+# Lower stiffness and damping to improve finger flexibility when grasping objects
+G1_INSPIRE_FTP_CFG.actuators["hands"] = ImplicitActuatorCfg(
+    joint_names_expr=[
+        ".*_index_.*",
+        ".*_middle_.*",
+        ".*_thumb_.*",
+        ".*_ring_.*",
+        ".*_pinky_.*",
+    ],
+    effort_limit_sim=30.0,
+    velocity_limit_sim=10.0,
+    stiffness=10.0,
+    damping=0.2,
+    armature=0.001,
+)

source/mindbot/mindbot/robot/unitree_brainco.py

@@ -0,0 +1,313 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Configuration for the Unitree G1 robot with BrainCo hands.
+
+Available configurations:
+
+* :obj:`G1_BRAINCO_29DOF_CFG`: Mobile-base BrainCo G1 for locomanipulation tasks.
+* :obj:`G1_BRAINCO_CFG`: Alias of :obj:`G1_BRAINCO_29DOF_CFG`.
+* :obj:`G1_BRAINCO_FTP_CFG`: Fixed-base variant for teleoperation / demo collection.
+"""
+
+import isaaclab.sim as sim_utils
+from isaaclab.actuators import DCMotorCfg, ImplicitActuatorCfg
+from isaaclab.assets.articulation import ArticulationCfg
+
+from mindbot.utils.assets import MINDBOT_ASSETS_DIR
+
+
+G1_BRAINCO_ASSET_DIR = f"{MINDBOT_ASSETS_DIR}/robots/g1_with_brainco_hand"
+"""Asset directory for the rewritten BrainCo-hand G1 robot."""
+
+
+G1_BRAINCO_USD_PATH = f"{G1_BRAINCO_ASSET_DIR}/g1_29dof_mode_15_brainco_hand.usd"
+"""Default USD path for the BrainCo-hand G1 asset."""
+
+
+G1_BRAINCO_URDF_PATH = f"{G1_BRAINCO_ASSET_DIR}/g1_29dof_mode_15_brainco_hand.urdf"
+"""URDF path used by Pinocchio / Pink IK for the BrainCo-hand G1 asset."""
+
+
+G1_BRAINCO_URDF_MESH_DIR = G1_BRAINCO_ASSET_DIR
+"""Root mesh directory for resolving relative URDF mesh paths."""
+
+
+G1_BRAINCO_LEFT_HAND_JOINT_NAMES = [
+    "left_index_proximal_joint",
+    "left_middle_proximal_joint",
+    "left_ring_proximal_joint",
+    "left_pinky_proximal_joint",
+    "left_thumb_metacarpal_joint",
+    "left_thumb_proximal_joint",
+]
+"""Actuated left-hand joints in the rewritten BrainCo asset."""
+
+
+G1_BRAINCO_RIGHT_HAND_JOINT_NAMES = [
+    "right_index_proximal_joint",
+    "right_middle_proximal_joint",
+    "right_ring_proximal_joint",
+    "right_pinky_proximal_joint",
+    "right_thumb_metacarpal_joint",
+    "right_thumb_proximal_joint",
+]
+"""Actuated right-hand joints in the rewritten BrainCo asset."""
+
+
+G1_BRAINCO_HAND_JOINT_NAMES = G1_BRAINCO_LEFT_HAND_JOINT_NAMES + G1_BRAINCO_RIGHT_HAND_JOINT_NAMES
+"""Ordered actuated hand joints used by teleoperation and Pink IK action terms."""
+
+
+G1_BRAINCO_HAND_JOINT_PATTERNS = [
+    ".*_index_proximal_joint",
+    ".*_middle_proximal_joint",
+    ".*_ring_proximal_joint",
+    ".*_pinky_proximal_joint",
+    ".*_thumb_metacarpal_joint",
+    ".*_thumb_proximal_joint",
+]
+"""Regex patterns that match actuated BrainCo finger joints in the rewritten USD."""
+
+
+G1_BRAINCO_29DOF_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=G1_BRAINCO_USD_PATH,
+        activate_contact_sensors=True,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            retain_accelerations=False,
+            linear_damping=0.0,
+            angular_damping=0.0,
+            max_linear_velocity=1000.0,
+            max_angular_velocity=1000.0,
+            max_depenetration_velocity=1.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=False,
+            fix_root_link=False,
+            solver_position_iteration_count=8,
+            solver_velocity_iteration_count=4,
+        ),
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        pos=(0.0, 0.0, 0.75),
+        rot=(0.7071, 0.0, 0.0, 0.7071),
+        joint_pos={
+            ".*_hip_pitch_joint": -0.10,
+            ".*_knee_joint": 0.30,
+            ".*_ankle_pitch_joint": -0.20,
+            ".*_shoulder_pitch_joint": 0.35,
+            "left_shoulder_roll_joint": 0.16,
+            "right_shoulder_roll_joint": -0.16,
+            ".*_elbow_joint": 0.50,
+            # ".*": 0.0,
+        },
+        joint_vel={".*": 0.0},
+    ),
+    soft_joint_pos_limit_factor=0.9,
+    actuators={
+        "legs": DCMotorCfg(
+            joint_names_expr=[
+                ".*_hip_yaw_joint",
+                ".*_hip_roll_joint",
+                ".*_hip_pitch_joint",
+                ".*_knee_joint",
+            ],
+            effort_limit={
+                ".*_hip_yaw_joint": 88.0,
+                ".*_hip_roll_joint": 139.0,
+                ".*_hip_pitch_joint": 88.0,
+                ".*_knee_joint": 139.0,
+            },
+            velocity_limit={
+                ".*_hip_yaw_joint": 32.0,
+                ".*_hip_roll_joint": 32.0,
+                ".*_hip_pitch_joint": 32.0,
+                ".*_knee_joint": 20.0,
+            },
+            stiffness={
+                ".*_hip_yaw_joint": 150.4769,
+                ".*_hip_roll_joint": 62.1413,
+                ".*_hip_pitch_joint": 24.8449,
+                ".*_knee_joint": 230.0900,
+            },
+            damping={
+                ".*_hip_yaw_joint": 0.0602,
+                ".*_hip_roll_joint": 0.0249,
+                ".*_hip_pitch_joint": 0.0099,
+                ".*_knee_joint": 0.0920,
+            },
+            armature={
+                ".*_hip_.*": 0.03,
+                ".*_knee_joint": 0.03,
+            },
+            saturation_effort=180.0,
+        ),
+        "feet": DCMotorCfg(
+            joint_names_expr=[".*_ankle_pitch_joint", ".*_ankle_roll_joint"],
+            effort_limit={
+                ".*_ankle_pitch_joint": 50.0,
+                ".*_ankle_roll_joint": 50.0,
+            },
+            velocity_limit={
+                ".*_ankle_pitch_joint": 37.0,
+                ".*_ankle_roll_joint": 37.0,
+            },
+            stiffness={
+                ".*_ankle_pitch_joint": 64.9368,
+                ".*_ankle_roll_joint": 2.3020,
+            },
+            damping={
+                ".*_ankle_pitch_joint": 0.0260,
+                ".*_ankle_roll_joint": 0.0009,
+            },
+            armature=0.03,
+            saturation_effort=80.0,
+        ),
+        "waist": ImplicitActuatorCfg(
+            joint_names_expr=["waist_.*_joint"],
+            effort_limit={
+                "waist_yaw_joint": 88.0,
+                "waist_roll_joint": 50.0,
+                "waist_pitch_joint": 50.0,
+            },
+            velocity_limit={
+                "waist_yaw_joint": 32.0,
+                "waist_roll_joint": 37.0,
+                "waist_pitch_joint": 37.0,
+            },
+            stiffness={
+                "waist_yaw_joint": 27.7928,
+                "waist_roll_joint": 54.2666,
+                "waist_pitch_joint": 53.3254,
+            },
+            damping={
+                "waist_yaw_joint": 0.0111,
+                "waist_roll_joint": 0.0217,
+                "waist_pitch_joint": 0.0213,
+            },
+            armature=0.001,
+        ),
+        "arms": ImplicitActuatorCfg(
+            joint_names_expr=[
+                ".*_shoulder_pitch_joint",
+                ".*_shoulder_roll_joint",
+                ".*_shoulder_yaw_joint",
+                ".*_elbow_joint",
+                ".*_wrist_.*_joint",
+            ],
+            effort_limit={
+                ".*_shoulder_pitch_joint": 25.0,
+                ".*_shoulder_roll_joint": 25.0,
+                ".*_shoulder_yaw_joint": 25.0,
+                ".*_elbow_joint": 25.0,
+                ".*_wrist_roll_joint": 25.0,
+                ".*_wrist_pitch_joint": 5.0,
+                ".*_wrist_yaw_joint": 5.0,
+            },
+            velocity_limit=100.0,
+            stiffness={
+                ".*_shoulder_pitch_joint": 168.7152,
+                ".*_shoulder_roll_joint": 151.6808,
+                ".*_shoulder_yaw_joint": 141.6967,
+                ".*_elbow_joint": 88.9802,
+                ".*_wrist_roll_joint": 66.6865,
+                ".*_wrist_pitch_joint": 26.5734,
+                ".*_wrist_yaw_joint": 16.3066,
+            },
+            damping={
+                ".*_shoulder_pitch_joint": 0.0675,
+                ".*_shoulder_roll_joint": 0.0607,
+                ".*_shoulder_yaw_joint": 0.0567,
+                ".*_elbow_joint": 0.0356,
+                ".*_wrist_roll_joint": 0.0267,
+                ".*_wrist_pitch_joint": 0.0106,
+                ".*_wrist_yaw_joint": 0.0065,
+            },
+            armature={
+                ".*_shoulder_.*": 0.001,
+                ".*_elbow_.*": 0.001,
+                ".*_wrist_.*_joint": 0.001,
+            },
+        ),
+        "hands": ImplicitActuatorCfg(
+            joint_names_expr=G1_BRAINCO_HAND_JOINT_PATTERNS,
+            effort_limit_sim=30.0,
+            velocity_limit_sim=10.0,
+            stiffness={
+                ".*_(index|middle|ring|pinky)_proximal_joint": 0.25,
+                ".*_thumb_metacarpal_joint": 0.31,
+                ".*_thumb_proximal_joint": 0.13,
+            },
+            damping={
+                ".*_(index|middle|ring|pinky)_proximal_joint": 0.0001,
+                ".*_thumb_metacarpal_joint": 0.0001,
+                ".*_thumb_proximal_joint": 0.00005,
+            },
+            armature=0.001,
+        ),
+    },
+    prim_path="/World/envs/env_.*/Robot",
+)
+"""Mobile-base BrainCo G1 configuration for locomotion + manipulation tasks."""
+
+
+G1_BRAINCO_CFG = G1_BRAINCO_29DOF_CFG
+"""Backward-compatible alias used by task configuration files."""
+
+
+G1_BRAINCO_FTP_CFG = G1_BRAINCO_29DOF_CFG.copy()
+G1_BRAINCO_FTP_CFG.spawn.activate_contact_sensors = True
+G1_BRAINCO_FTP_CFG.spawn.articulation_props.fix_root_link = True
+G1_BRAINCO_FTP_CFG.init_state = ArticulationCfg.InitialStateCfg(
+    pos=(0.0, 0.0, 1.0),
+    joint_pos={
+        ".*_hip_pitch_joint": -0.10,
+        ".*_knee_joint": 0.30,
+        ".*_ankle_pitch_joint": -0.20,
+        ".*_shoulder_pitch_joint": 0.35,
+        "left_shoulder_roll_joint": 0.16,
+        "right_shoulder_roll_joint": -0.16,
+        ".*_elbow_joint": 0.50,
+        ".*": 0.0,
+    },
+    joint_vel={".*": 0.0},
+)
+G1_BRAINCO_FTP_CFG.actuators["arms"] = ImplicitActuatorCfg(
+    joint_names_expr=[
+        ".*_shoulder_pitch_joint",
+        ".*_shoulder_roll_joint",
+        ".*_shoulder_yaw_joint",
+        ".*_elbow_joint",
+        ".*_wrist_.*_joint",
+    ],
+    effort_limit={
+        ".*_shoulder_pitch_joint": 25.0,
+        ".*_shoulder_roll_joint": 25.0,
+        ".*_shoulder_yaw_joint": 25.0,
+        ".*_elbow_joint": 25.0,
+        ".*_wrist_roll_joint": 25.0,
+        ".*_wrist_pitch_joint": 5.0,
+        ".*_wrist_yaw_joint": 5.0,
+    },
+    velocity_limit=100.0,
+    stiffness=3000.0,
+    damping=100.0,
+    armature={
+        ".*_shoulder_.*": 0.001,
+        ".*_elbow_.*": 0.001,
+        ".*_wrist_.*_joint": 0.001,
+    },
+)
+G1_BRAINCO_FTP_CFG.actuators["hands"] = ImplicitActuatorCfg(
+    joint_names_expr=G1_BRAINCO_HAND_JOINT_PATTERNS,
+    effort_limit_sim=30.0,
+    velocity_limit_sim=10.0,
+    stiffness=10.0,
+    damping=0.2,
+    armature=0.001,
+)
+"""Fixed-base BrainCo G1 configuration suited for teleoperation and demo recording."""

source/mindbot/mindbot/tasks/manager_based/il/pick_place/dryingbox_gr1t2_env_cfg.py

@@ -51,7 +51,8 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
         prim_path="/World/envs/env_.*/PackingTable",
         init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 0.55, -0.1], rot=[1.0, 0.0, 0.0, 0.0]),
         spawn=UsdFileCfg(
-            usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/PackingTable/packing_table.usd",
+            # usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/PackingTable/packing_table.usd",
+            usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/PackingTable/packing_table_v2.usd",
             rigid_props=sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True),
         ),
     )
@@ -67,14 +68,14 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
     dryingbox = DRYINGBOX_CFG.replace(
         prim_path="{ENV_REGEX_NS}/Dryingbox",
         init_state=ArticulationCfg.InitialStateCfg(
-            pos=[0.0, 0.45, 0.90],
+            pos=[-0.05, 0.65, 0.90],
             rot=[1.0, 0.0, 0.0, 0.0],
             # joint_pos={"RevoluteJoint": -1.7453},  # -100°
         ),
     )
     rack= RigidObjectCfg(
         prim_path="{ENV_REGEX_NS}/Rack",
-        init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.4,0.4,0.8996],rot=[1,0,0,0]),
+        init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.5,0.4,0.8996],rot=[1,0,0,0]),
         spawn=UsdFileCfg(
             # usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Test_Tube_Rack (2)/tube.usd",
             usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Test_Tube_Rack (2)/Test_Tube_Rack_AA_01.usdc",
@@ -84,7 +85,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
     )
     tube= RigidObjectCfg(
         prim_path="{ENV_REGEX_NS}/Tube",
-        init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.42374,0.32415,0.912],rot=[1,0,0,0]),
+        init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.52374,0.32415,0.912],rot=[1,0,0,0]),
         spawn=UsdFileCfg(
             # usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Test_Tube_Rack (2)/tube.usd",
             usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Collected_Test_Tube_AA_01/Test_Tube_AA_01.usdc",
@@ -96,7 +97,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
     beaker = RigidObjectCfg(
     prim_path="{ENV_REGEX_NS}/Beaker",
     init_state=RigidObjectCfg.InitialStateCfg(
-        pos=[-0.20, 0.324, 0.93], # 根据你的天平中心位置微调
+        pos=[-0.30, 0.324, 0.93], # 根据你的天平中心位置微调
         rot=[1, 0, 0, 0]
     ),
     spawn=UsdFileCfg(
@@ -129,7 +130,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
                 "right_shoulder_pitch_joint": 0.0,
                 "right_shoulder_roll_joint": 0.0,
                 "right_shoulder_yaw_joint": 0.0,
-                "right_elbow_pitch_joint": -1.5708,
+                "right_elbow_pitch_joint": 0.0,#-1.5708
                 "right_wrist_yaw_joint": 0.0,
                 "right_wrist_roll_joint": 0.0,
                 "right_wrist_pitch_joint": 0.0,
@@ -137,7 +138,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
                 "left_shoulder_pitch_joint": 0.0,
                 "left_shoulder_roll_joint": 0.0,
                 "left_shoulder_yaw_joint": 0.0,
-                "left_elbow_pitch_joint": -1.5708,
+                "left_elbow_pitch_joint": 0.0,#-1.5708
                 "left_wrist_yaw_joint": 0.0,
                 "left_wrist_roll_joint": 0.0,
                 "left_wrist_pitch_joint": 0.0,

source/mindbot/mindbot/tasks/manager_based/il/pick_place/dryingoven_gr1t2_env_cfg.py

@@ -49,9 +49,10 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
     # Table
     packing_table = AssetBaseCfg(
         prim_path="/World/envs/env_.*/PackingTable",
-        init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 0.55, -0.1], rot=[1.0, 0.0, 0.0, 0.0]),
+        init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 0.55, 0.0], rot=[1.0, 0.0, 0.0, 0.0]),
         spawn=UsdFileCfg(
-            usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/PackingTable/packing_table.usd",
+            # usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/PackingTable/packing_table.usd",
+            usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/PackingTable/packing_table_v2.usd",
             rigid_props=sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True),
         ),
     )
@@ -67,14 +68,14 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
     dryingoven = DRYINGOVEN_CFG.replace(
         prim_path="{ENV_REGEX_NS}/Dryingoven",
         init_state=ArticulationCfg.InitialStateCfg(
-            pos=[0.0, 0.45, 0.90],
+            pos=[0.0, 0.5, 1.0],
             rot=[1.0, 0.0, 0.0, 0.0],
             # joint_pos={"RevoluteJoint": -1.7453},  # -100°
         ),
     )
     rack= RigidObjectCfg(
         prim_path="{ENV_REGEX_NS}/Rack",
-        init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.4,0.4,0.8996],rot=[1,0,0,0]),
+        init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.4,0.4,0.9996],rot=[1,0,0,0]),
         spawn=UsdFileCfg(
             # usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Test_Tube_Rack (2)/tube.usd",
             usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Test_Tube_Rack (2)/Test_Tube_Rack_AA_01.usdc",
@@ -84,7 +85,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
     )
     tube= RigidObjectCfg(
         prim_path="{ENV_REGEX_NS}/Tube",
-        init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.42374,0.32415,0.912],rot=[1,0,0,0]),
+        init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.42374,0.32415,1.012],rot=[1,0,0,0]),
         spawn=UsdFileCfg(
             # usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Test_Tube_Rack (2)/tube.usd",
             usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Collected_Test_Tube_AA_01/Test_Tube_AA_01.usdc",
@@ -96,7 +97,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
     beaker = RigidObjectCfg(
     prim_path="{ENV_REGEX_NS}/Beaker",
     init_state=RigidObjectCfg.InitialStateCfg(
-        pos=[-0.20, 0.324, 0.93], # 根据你的天平中心位置微调
+        pos=[-0.20, 0.324, 1.03], # 根据你的天平中心位置微调
         rot=[1, 0, 0, 0]
     ),
     spawn=UsdFileCfg(