离心机加试管初步配置

2026-02-02 16:39:33 +08:00
parent 196378f2d3
commit 9325184f4d
6 changed files with 431 additions and 271 deletions
--- a/source/mindbot/mindbot/robot/mindbot.py
+++ b/source/mindbot/mindbot/robot/mindbot.py
@@ -66,26 +66,26 @@ MINDBOT_CFG = ArticulationCfg(
            # "l_joint5": 0.0,
            # "l_joint6": 0.0,
                 # Right arm joints
-            # -45° -> -0.7854
-            "r_joint1": -0.7854,
-            # 70° -> 1.2217
-            "r_joint2": 1.2217,
-            # 90° -> 1.5708
-            "r_joint3": 1.5708,
-            # -90° -> -1.5708
-            "r_joint4": -1.5708,
-            # 90° -> 1.5708
-            "r_joint5": 1.5708,
-            # 70° -> 1.2217
-            "r_joint6": 1.2217,
+            # # -45° -> -0.7854
+            # "r_joint1": -0.7854,
+            # # 70° -> 1.2217
+            # "r_joint2": 1.2217,
+            # # 90° -> 1.5708
+            # "r_joint3": 1.5708,
+            # # -90° -> -1.5708
+            # "r_joint4": -1.5708,
+            # # 90° -> 1.5708
+            # "r_joint5": 1.5708,
+            # # 70° -> 1.2217
+            # "r_joint6": 1.2217,
            # Right arm joints
-            # "r_joint1": 0.0,
-            # # "r_joint2": -1.5708,
-            # "r_joint2": 0.0,
-            # "r_joint3": 0.0,
-            # "r_joint4": 0.0,
-            # "r_joint5": 0.0,
-            # "r_joint6": 0.0,
+            "r_joint1": 0.0,
+            # "r_joint2": -1.5708,
+            "r_joint2": 0.0,
+            "r_joint3": 0.0,
+            "r_joint4": 0.0,
+            "r_joint5": 0.0,
+            "r_joint6": 0.0,
            # # # left wheel
            # "left_b_revolute_Joint": 0.0,
            # "left_f_revolute_Joint": 0.0,
@@ -101,7 +101,7 @@ MINDBOT_CFG = ArticulationCfg(
            "right_hand_joint_left": 0.0,
            "right_hand_joint_right": 0.0,
            # trunk
-            "PrismaticJoint": 0.3,
+            "PrismaticJoint": 0.23, # 0.30
            # head
            "head_revoluteJoint": 0.0 #0.5236
        },
@@ -115,7 +115,7 @@ MINDBOT_CFG = ArticulationCfg(
            joint_names_expr=["l_joint[1-6]"], # This matches l_joint1, l_joint2, ..., l_joint6
            effort_limit_sim=100.0,            # Note: Tune this based on your robot's specs
            velocity_limit_sim=100.0,          # Note: Tune this based on your robot's specs
-            stiffness=10000.0, #10000.0,                  # Note: Tune this for desired control performance
+            stiffness=0.0, #10000.0,                  # Note: Tune this for desired control performance
            damping=1000.0, #10000.0,                     # Note: Tune this for desired control performance
        ),
        # Group for the 6 right arm joints using a regular expression
@@ -123,7 +123,7 @@ MINDBOT_CFG = ArticulationCfg(
            joint_names_expr=["r_joint[1-6]"], # This matches r_joint1, r_joint2, ..., r_joint6
            effort_limit_sim=100.0,            # Note: Tune this based on your robot's specs
            velocity_limit_sim=100.0,          # Note: Tune this based on your robot's specs
-            stiffness=0.0, #10000.0,                  # Note: Tune this for desired control performance1
+            stiffness=10000.0, #10000.0,                  # Note: Tune this for desired control performance1
            damping=1000.0, #10000.0,                   # Note: Tune this for desired control performance
        ),
        "head": ImplicitActuatorCfg(joint_names_expr=["head_revoluteJoint"], stiffness=10000.0, damping=1000.0),
--- a/source/mindbot/mindbot/tasks/manager_based/centrifuge/agents/rsl_rl_ppo_cfg.py
+++ b/source/mindbot/mindbot/tasks/manager_based/centrifuge/agents/rsl_rl_ppo_cfg.py
@@ -14,7 +14,7 @@ class PPORunnerCfg(RslRlOnPolicyRunnerCfg):
    max_iterations = 5000   # 增加迭代次数，给它足够的时间学习
    save_interval = 100
    # experiment_name = "mindbot_grasp"  # 建议改个名，不要叫 cartpole 了
-    experiment_name = "mindbot_pullUltrasoundLidUp"
+    experiment_name = "mindbot_centrifuge_LidUp"
    
    policy = RslRlPpoActorCriticCfg(
        init_noise_std=0.7,
--- a/source/mindbot/mindbot/tasks/manager_based/centrifuge/centrifuge_env_cfg.py
+++ b/source/mindbot/mindbot/tasks/manager_based/centrifuge/centrifuge_env_cfg.py
@@ -64,13 +64,15 @@ TABLE_CFG=RigidObjectCfg(
 LID_CFG = RigidObjectCfg(
    prim_path="{ENV_REGEX_NS}/Lid",
    init_state=RigidObjectCfg.InitialStateCfg(
-        pos=[0.95, 0.73, 0.1055],
-        rot=[1.0, 0.0, 0.0, 0.0],
+        # pos=[0.9523,-0.2512,1.0923],
+        pos=[0.803 , -0.25, 1.0282],#(0.9988, -0.2977, 1.0498633)
+        # rot=[-0.7071, 0.0, 0.0, 0.7071],
+        rot=[0.0, 0.0, 0.0, 1.0],
        lin_vel=[0.0, 0.0, 0.0],
        ang_vel=[0.0, 0.0, 0.0],
    ),
    spawn=UsdFileCfg(
-        usd_path="C:/Users/PC/workpalce/maic_usd_assets/equipment/centrifuge/Lid_B.usd",
+        usd_path="C:/Users/PC/workpalce/maic_usd_assets/assets/Collected_equipment001/Equipment/tube1.usd",
        # scale=(0.2, 0.2, 0.2),
        rigid_props=RigidBodyPropertiesCfg(
            rigid_body_enabled= True,
@@ -91,6 +93,38 @@ LID_CFG = RigidObjectCfg(
    ),
 )

+# LID_CFG = RigidObjectCfg(
+#     prim_path="{ENV_REGEX_NS}/Lid",
+#     init_state=RigidObjectCfg.InitialStateCfg(
+#         # pos=[0.9523,-0.2512,1.0923],
+#         pos=[0.8488, -0.2477, 1.0498633],#(0.9988, -0.2977, 1.0498633)
+#         # rot=[-0.7071, 0.0, 0.0, 0.7071],
+#         rot=[0.0, 0.0, 0.0, 1.0],
+#         lin_vel=[0.0, 0.0, 0.0],
+#         ang_vel=[0.0, 0.0, 0.0],
+#     ),
+#     spawn=UsdFileCfg(
+#         usd_path="C:/Users/PC/workpalce/maic_usd_assets/equipment/centrifuge/Lid_B.usd",
+#         # scale=(0.2, 0.2, 0.2),
+#         rigid_props=RigidBodyPropertiesCfg(
+#             rigid_body_enabled= True,
+#             solver_position_iteration_count=32,
+#             solver_velocity_iteration_count=16,
+#             max_angular_velocity=1000.0,
+#             max_linear_velocity=1000.0,
+#             max_depenetration_velocity=0.5,#original 5.0
+#             linear_damping=5.0, #original 0.5
+#             angular_damping=5.0, #original 0.5
+#             disable_gravity=False,
+#         ),
+#         collision_props=CollisionPropertiesCfg(
+#             collision_enabled=True,
+#             contact_offset=0.0005,#original 0.02
+#             rest_offset=0
+#         ),
+#     ),
+# )
+
 CENTRIFUGE_CFG = ArticulationCfg(
    spawn=sim_utils.UsdFileCfg(
        usd_path="C:/Users/PC/workpalce/maic_usd_assets/equipment/centrifuge/centrifuge.usd",
@@ -108,6 +142,11 @@ CENTRIFUGE_CFG = ArticulationCfg(
            # 【重要】必须要固定底座，否则机器人按盖子时，离心机会翻倒
            # fix_root_link=True, 
        ),
+        collision_props=CollisionPropertiesCfg(
+            collision_enabled=True,
+            contact_offset=0.0005,#original 0.02
+            rest_offset=0
+        ),
    ),
    init_state=ArticulationCfg.InitialStateCfg(
        # 1. 参照机器人配置，在这里定义初始关节角度
@@ -118,8 +157,9 @@ CENTRIFUGE_CFG = ArticulationCfg(
            # 您的 USD 限位是 (-100, 0)，-100度为最大开启
            "r2": math.radians(-100.0), 
        },
-        pos=(0.95, -0.3, 0.855),
+        pos=(0.80, -0.25,  0.8085),#(0.95, -0.3,  0.8085)
        rot=[-0.7071, 0.0, 0.0, 0.7071],
+        # rot=[0.0, 0.0, 0.0, 1.0],
    ),
    actuators={
        "lid_passive_mechanism": ImplicitActuatorCfg(
@@ -144,68 +184,11 @@ CENTRIFUGE_CFG = ArticulationCfg(
        # 转子可以硬一点，不需要被机器人按动
        "rotor_control": ImplicitActuatorCfg(
            joint_names_expr=["r1"],
-            stiffness=1000.0,
+            stiffness=0.0,
            damping=10.0,
        ),
    }
 )
-# CENTRIFUGE_CFG = ArticulationCfg(
-#     spawn=sim_utils.UsdFileCfg(
-#         usd_path="C:/Users/PC/workpalce/maic_usd_assets/equipment/centrifuge/centrifuge.usd",
-#         rigid_props=sim_utils.RigidBodyPropertiesCfg(
-#             disable_gravity=False, 
-#             max_depenetration_velocity=1.0,
-#             linear_damping=0.5,
-#             angular_damping=0.5,
-#         ),
-#         articulation_props=sim_utils.ArticulationRootPropertiesCfg(
-#             enabled_self_collisions=False,#
-#             solver_position_iteration_count=32,
-#             solver_velocity_iteration_count=16,
-#             stabilization_threshold=1e-6,
-#             fix_root_link=True,
-#         ),
-#     ),
-#     init_state=ArticulationCfg.InitialStateCfg(
-#         joint_pos={
-#             "r1": math.radians(-100.0),
-#             "r2": math.radians(-100.0),
-#         },
-#         pos=(0.95, -0.3, 0.855),
-#         rot=[-0.7071, 0.0, 0.0, 0.7071],
-#         ),
-#     # actuators={}
-#     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=["r2"],
-            
-#             # 【关键逻辑】
-#             # 使用较高的 Stiffness (刚度) 模拟电机或弹簧锁死在特定位置
-#             # 这样盖子才不会掉下来
-#             stiffness=200.0, 
-            
-#             # 适当的阻尼，防止盖子像弹簧一样疯狂抖动
-#             damping=20.0,    
-            
-#             # 确保力矩足够克服盖子的重力
-#             effort_limit_sim=1000.0, 
-#             velocity_limit_sim=100.0,
-#         ),
-#         # 如果有其他关节(如转子r1)，可以单独配置
-#         "rotor_control": ImplicitActuatorCfg(
-#             joint_names_expr=["r1"],
-#             stiffness=1000.0,
-#             damping=10.0,
-#             # joint_names_expr=[".*"],
-            
-#             # stiffness=0.0, 
-#             # damping=10.0, 
-#             # effort_limit_sim=100.0, 
-#             # velocity_limit_sim=100.0,
-#         ),
-#     }
-# )


 ROOM_CFG = AssetBaseCfg(
@@ -300,36 +283,36 @@ class ActionsCfg:
    """Action specifications for the MDP."""

    # 使用任务空间控制器：策略输出末端执行器位置+姿态增量（6维）
-    left_arm_ee = DifferentialInverseKinematicsActionCfg(
-        asset_name="Mindbot",
-        joint_names=["l_joint[1-6]"],  # 左臂的6个关节
-        body_name="left_hand_body",     # 末端执行器body名称
-        controller=DifferentialIKControllerCfg(
-            command_type="pose",        # 控制位置+姿态
-            use_relative_mode=True,     # 相对模式：动作是增量
-            ik_method="dls",            # Damped Least Squares方法
-        ),
-        scale=(0.01, 0.01, 0.01, 0.025, 0.025, 0.025),
-    )
-    
-    # right_arm_fixed = mdp.JointPositionActionCfg(
+    # left_arm_ee = DifferentialInverseKinematicsActionCfg(
    #     asset_name="Mindbot",
-    #     joint_names=["r_joint[1-6]"], # 对应 l_joint1 到 l_joint6
-        
-    #     # 1. 缩放设为 0：这让 RL 策略无法控制它，它不会动
-    #     scale=0.0, 
-        
-    #     # 2. 偏移设为你的目标角度（弧度）：这告诉电机“永远停在这里”
-    #     # 对应 (135, -70, -90, 90, 90, -70)
-    #     offset={
-    #         "r_joint1": 2.3562,
-    #         "r_joint2": -1.2217,
-    #         "r_joint3": -1.5708,
-    #         "r_joint4": 1.5708,
-    #         "r_joint5": 1.5708,
-    #         "r_joint6": -1.2217,
-    #     },
+    #     joint_names=["r_joint[1-6]"],  # 左臂的6个关节
+    #     body_name="right_hand_body",     # 末端执行器body名称
+    #     controller=DifferentialIKControllerCfg(
+    #         command_type="pose",        # 控制位置+姿态
+    #         use_relative_mode=True,     # 相对模式：动作是增量
+    #         ik_method="dls",            # Damped Least Squares方法
+    #     ),
+    #     scale=(0.01, 0.01, 0.01, 0.025, 0.025, 0.025),
    # )
+    
+    right_arm_fixed = mdp.JointPositionActionCfg(
+        asset_name="Mindbot",
+        joint_names=["r_joint[1-6]"], # 对应 l_joint1 到 l_joint6
+        
+        # 1. 缩放设为 0：这让 RL 策略无法控制它，它不会动
+        scale=0.0, 
+        
+        # 2. 偏移设为你的目标角度（弧度）：这告诉电机“永远停在这里”
+        # 对应 (135, -70, -90, 90, 90, -70)
+        offset={
+            "r_joint1": 2.3562,
+            "r_joint2": -1.2217,
+            "r_joint3": -1.5708,
+            "r_joint4": 1.5708,
+            "r_joint5": 1.5708,
+            "r_joint6": -1.2217,
+        },
+    )

    grippers_position = mdp.BinaryJointPositionActionCfg(
        asset_name="Mindbot",
@@ -348,10 +331,19 @@ class ActionsCfg:
        asset_name="Mindbot",
        joint_names=["PrismaticJoint"],
        scale=0.00,
-        offset=0.3,
+        offset=0.24, # 0.3
        clip=None
    )

+    centrifuge_lid_passive = mdp.JointPositionActionCfg(
+        asset_name="centrifuge", # 对应场景中的名称
+        joint_names=["r2"],
+        # 将 scale 设为 0，意味着 RL 算法输出的任何值都会被乘 0，即无法干扰它
+        scale=0.00, 
+        # 将 offset 设为目标角度，这会成为 PD 控制器的恒定 Target
+        offset= -1.7453,
+        clip=None
+    )

@configclass
 class ObservationsCfg:
@@ -412,7 +404,7 @@ class EventCfg:
        func=mdp.reset_joints_by_offset,
        mode="reset",
        params={
-            "asset_cfg": SceneEntityCfg("Mindbot", joint_names=["l_joint[1-6]"]),
+            "asset_cfg": SceneEntityCfg("Mindbot", joint_names=["r_joint[1-6]"]),
            "position_range": (-0.01, 0.01),
            "velocity_range": (0.0, 0.0),
        },
@@ -425,7 +417,8 @@ class EventCfg:
        mode="reset",
        params={
            "asset_cfg": SceneEntityCfg("centrifuge"), 
-            "pose_range": {"x": (-0.07, 0.07), "y": (-0.07, 0.07), "yaw": (-0.1, 0.1)}, 
+            # "pose_range": {"x": (-0.07, 0.07), "y": (-0.07, 0.07), "yaw": (-0.1, 0.1)}, 
+            "pose_range": {"x": (0.0, 0.0), "y": (0.0, 0.0), "z": (0.0, 0.0)}, 
            "velocity_range": {"x": (0.0, 0.0)}
            }
        )
@@ -434,7 +427,8 @@ class EventCfg:
        mode="reset",
        params={
            "asset_cfg": SceneEntityCfg("lid"), 
-            "pose_range": {"x": (-0.03, 0.03), "y": (-0.03, 0.03), "yaw": (-1.5, 1.5)}, 
+            # "pose_range": {"x": (-0.03, 0.03), "y": (-0.03, 0.03), "yaw": (-1.5, 1.5)}, 
+            "pose_range": {"x": (0.0, 0.0), "y": (0.0, 0.0), "z": (0.0, 0.0)}, 
            "velocity_range": {"x": (0.0, 0.0)}
            }
        )
@@ -449,7 +443,7 @@ class RewardsCfg:
        params={
            "lid_cfg": SceneEntityCfg("lid"),
            "robot_cfg": SceneEntityCfg("Mindbot"),
-            "gripper_body_name": "left_hand_body",
+            "gripper_body_name": "right_hand_body",
            "gripper_forward_axis": (0.0, 0.0, 1.0), 
            "gripper_width_axis": (0.0, 1.0, 0.0), 
            "lid_handle_axis": (0.0, 1.0, 0.0),
@@ -465,9 +459,9 @@ class RewardsCfg:
        params={
            "lid_cfg": SceneEntityCfg("lid"),
            "robot_cfg": SceneEntityCfg("Mindbot"),
-            "left_gripper_name": "left_hand__l",
-            "right_gripper_name": "left_hand_r",
-            "height_offset": 0.07,  # Z方向：lid 上方 0.1m
+            "left_gripper_name": "right_hand_l",
+            "right_gripper_name": "right_hand__r",
+            "height_offset": 0.115,  # Z方向：lid 上方 0.1m
            "std": 0.3,  # 位置对齐的容忍度    
        },
        weight=3.0 #original 3.0
@@ -477,64 +471,64 @@ class RewardsCfg:
        params={
            "lid_cfg": SceneEntityCfg("lid"),
            "robot_cfg": SceneEntityCfg("Mindbot"),
-            "left_gripper_name": "left_hand__l",
-            "right_gripper_name": "left_hand_r",
-            "height_offset": 0.07,
+            "left_gripper_name": "right_hand_l",
+            "right_gripper_name": "right_hand__r",
+            "height_offset": 0.115,
        },
        # weight 为负数表示惩罚。
        # 假设距离 0.5m，惩罚就是 -0.5 * 2.0 = -1.0 分。
        weight=-1.0 
    )
-    # 【新增】精细对齐 (引导进入 2cm 圈)
-    gripper_lid_fine_alignment = RewTerm(
-        func=mdp.gripper_lid_position_alignment,
-        params={
-            "lid_cfg": SceneEntityCfg("lid"),
-            "robot_cfg": SceneEntityCfg("Mindbot"),
-            "left_gripper_name": "left_hand__l",
-            "right_gripper_name": "left_hand_r",
-            "height_offset": 0.07, # 【注意】这个高度必须非常准，和 interaction 判定高度一致
-            "std": 0.05, # 非常陡峭的梯度，只在 5-10cm 内有效
-        },
-        weight=10.0 # 高权重
-    )
+    # # 【新增】精细对齐 (引导进入 2cm 圈)
+    # gripper_lid_fine_alignment = RewTerm(
+    #     func=mdp.gripper_lid_position_alignment,
+    #     params={
+    #         "lid_cfg": SceneEntityCfg("lid"),
+    #         "robot_cfg": SceneEntityCfg("Mindbot"),
+    #         "left_gripper_name": "left_hand__l",
+    #         "right_gripper_name": "left_hand_r",
+    #         "height_offset": 0.07, # 【注意】这个高度必须非常准，和 interaction 判定高度一致
+    #         "std": 0.05, # 非常陡峭的梯度，只在 5-10cm 内有效
+    #     },
+    #     weight=10.0 # 高权重
+    # )

-    gripper_close_interaction = RewTerm( 
-        func=mdp.gripper_close_when_near,
-        params={
-            "lid_cfg": SceneEntityCfg("lid"),
-            "robot_cfg": SceneEntityCfg("Mindbot"),
-            "left_gripper_name": "left_hand__l",
-            "right_gripper_name": "left_hand_r",
-            "joint_names": ["left_hand_joint_left", "left_hand_joint_right"],
-            "target_close_pos": 0.03,
-            "height_offset": 0.04,
-            "grasp_radius": 0.03,
-        },
-        weight=10.0
-    )
+    # gripper_close_interaction = RewTerm( 
+    #     func=mdp.gripper_close_when_near,
+    #     params={
+    #         "lid_cfg": SceneEntityCfg("lid"),
+    #         "robot_cfg": SceneEntityCfg("Mindbot"),
+    #         "left_gripper_name": "left_hand__l",
+    #         "right_gripper_name": "left_hand_r",
+    #         "joint_names": ["left_hand_joint_left", "left_hand_joint_right"],
+    #         "target_close_pos": 0.03,
+    #         "height_offset": 0.04,
+    #         "grasp_radius": 0.03,
+    #     },
+    #     weight=10.0
+    # )

-    lid_lifted_reward = RewTerm(
-        func=mdp.lid_is_lifted, # 使用 rewards.py 中已有的函数
-        params={
-            "lid_cfg": SceneEntityCfg("lid"),
-            "minimal_height": 1.0, # 根据你的场景调整，比初始高度高 5cm 左右
-        },
-        weight=10.0 # 给一个足够大的权重
-    )
+    # lid_lifted_reward = RewTerm(
+    #     func=mdp.lid_is_lifted, # 使用 rewards.py 中已有的函数
+    #     params={
+    #         "lid_cfg": SceneEntityCfg("lid"),
+    #         "minimal_height": 1.0, # 根据你的场景调整，比初始高度高 5cm 左右
+    #     },
+    #     weight=10.0 # 给一个足够大的权重
+    # )

-    lid_lifting_reward = RewTerm(
-        func=mdp.lid_lift_progress_reward,
-        params={
-            "lid_cfg": SceneEntityCfg("lid"),
-            "initial_height": 0.8, # 请务必核实这个值！在 print 里看一下 lid 的 z 坐标
-            "target_height_lift": 0.2,
-            "height_offset": 0.07, # 与其他奖励保持一致
-            "std": 0.1
-        },
-        # 权重设大一点，告诉它这是最终目标
-        weight=10.0 
-    )
+    # lid_lifting_reward = RewTerm(
+    #     func=mdp.lid_lift_progress_reward,
+    #     params={
+    #         "lid_cfg": SceneEntityCfg("lid"),
+    #         "initial_height": 0.8, # 请务必核实这个值！在 print 里看一下 lid 的 z 坐标
+    #         "target_height_lift": 0.2,
+    #         "height_offset": 0.07, # 与其他奖励保持一致
+    #         "std": 0.1
+    #     },
+    #     # 权重设大一点，告诉它这是最终目标
+    #     weight=10.0 
+    # )



@@ -550,20 +544,20 @@ class TerminationsCfg:
        params={"asset_cfg": SceneEntityCfg("Mindbot"), "maximum_height": 2.0},
    )
    
-    # lid_fly_away = DoneTerm(
-    #     func=mdp.base_height_failure,
-    #     params={"asset_cfg": SceneEntityCfg("lid"), "maximum_height": 2.0},
-    # )
+    lid_fly_away = DoneTerm(
+        func=mdp.base_height_failure,
+        params={"asset_cfg": SceneEntityCfg("lid"), "maximum_height": 2.0},
+    )

    # 新增：盖子掉落判定
    # 如果盖子掉回桌面（高度接近初始高度），且已经运行了一段时间（避开刚开始重置的瞬间）
-    # lid_dropped = DoneTerm(
-    #     func=mdp.base_height_failure, # 复用高度判定函数
-    #     params={
-    #         "asset_cfg": SceneEntityCfg("lid"), 
-    #         "minimum_height": 0.79, # 假设初始高度是 0.9，低于 0.88 说明掉下去了或者被砸进去了
-    #     },
-    # )
+    lid_dropped = DoneTerm(
+        func=mdp.base_height_failure, # 复用高度判定函数
+        params={
+            "asset_cfg": SceneEntityCfg("lid"), 
+            "minimum_height": 0.79, # 假设初始高度是 0.9，低于 0.88 说明掉下去了或者被砸进去了
+        },
+    )
    


--- a/source/mindbot/mindbot/tasks/manager_based/pullUltrasoundLidUp/mindbot_env_cfg.py
+++ b/source/mindbot/mindbot/tasks/manager_based/pullUltrasoundLidUp/mindbot_env_cfg.py
@@ -97,6 +97,12 @@ ROOM_CFG = AssetBaseCfg(
        usd_path="C:/Users/PC/workpalce/maic_usd_assets/twinlab/MIC_sim-3.0/244_140/room.usd",
    ),
 )
+ROOM_CFG = AssetBaseCfg(
+    prim_path="{ENV_REGEX_NS}/Room",
+    spawn=UsdFileCfg(
+        usd_path="C:/Users/PC/workpalce/maic_usd_assets/twinlab/Collected_lab2/lab.usd",
+    ),
+)

 # ROOM_CFG = RigidObjectCfg(
 #     prim_path="{ENV_REGEX_NS}/Room",
@@ -226,7 +232,7 @@ class MindbotSceneCfg(InteractiveSceneCfg):
        data_types=["rgb"],
        spawn=None,
    )
-##
+# # ##
 # MDP settings
 ##

@@ -544,7 +550,7 @@ class CurriculumCfg:
@configclass
 class MindbotEnvCfg(ManagerBasedRLEnvCfg):
    # Scene settings
-    scene: MindbotSceneCfg = MindbotSceneCfg(num_envs=5, env_spacing=5.0)
+    scene: MindbotSceneCfg = MindbotSceneCfg(num_envs=5, env_spacing=3.0)
    # Basic settings
    observations: ObservationsCfg = ObservationsCfg()
    actions: ActionsCfg = ActionsCfg()