1

source/mindbot/mindbot/tasks/manager_based/il/open_drybox/__init__.py

@@ -37,4 +37,13 @@ gym.register(
     },
     disable_env_checker=True,
 )
-# ...existing code...
+
+gym.register(
+    id="Isaac-MindRobot-LeftArm-IK-Abs-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.mindrobot_left_arm_ik_env_cfg:MindRobotLeftArmIKAbsEnvCfg",
+        "robomimic_bc_cfg_entry_point": f"{__name__}.agents:robomimic/bc_rnn_low_dim.json",
+    },
+    disable_env_checker=True,
+)

source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_left_arm_ik_env_cfg.py

@@ -305,3 +305,13 @@ class MindRobotLeftArmIKEnvCfg(ManagerBasedRLEnvCfg):
         self.gripper_joint_names = ["left_hand_joint_left", "left_hand_joint_right"]
         self.gripper_open_val = 0.0
         self.gripper_threshold = 0.005
+
+
+@configclass
+class MindRobotLeftArmIKAbsEnvCfg(MindRobotLeftArmIKEnvCfg):
+    """MindRobot 左臂 IK-Abs 遥操作环境配置（绝对坐标系，适合 VR 控制器）。"""
+
+    def __post_init__(self):
+        super().__post_init__()
+        # Switch controller to absolute mode
+        self.actions.arm_action.controller.use_relative_mode = False