pro6000_加入lab资产

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

@@ -16,7 +16,7 @@ MINDBOT_CFG = ArticulationCfg(
         # =====================================================
         # ✅ 你的本地 USD 文件路径
         # =====================================================
-        usd_path="C:/Users/PC/workpalce/maic_usd_assets/robots/mindrobot-1105-lab/mindrobot_cd2.usd",
+        usd_path="/home/maic/LYT/Collected_mindrobot_cd2/mindrobot_cd2.usd",
         rigid_props=sim_utils.RigidBodyPropertiesCfg(
             disable_gravity=False,
             max_depenetration_velocity=1.0,
@@ -40,12 +40,12 @@ MINDBOT_CFG = ArticulationCfg(
     init_state=ArticulationCfg.InitialStateCfg(
         joint_pos={
             # ====== 左臂关节（主控臂）======
-            "l_joint1": 2.3562,     # 135°
+            "l_joint1": 2.3562,  # 135°
-            "l_joint2": -1.2217,    # -70°
+            "l_joint2": -1.2217,  # -70°
-            "l_joint3": -1.5708,    # -90°
+            "l_joint3": -1.5708,  # -90°
-            "l_joint4": 1.5708,     # 90°
+            "l_joint4": 1.5708,  # 90°
-            "l_joint5": 1.5708,     # 90°
+            "l_joint5": 1.5708,  # 90°
-            "l_joint6": -1.2217,    # -70°
+            "l_joint6": -1.2217,  # -70°
             # ====== 右臂关节（静止）======
             "r_joint1": 0.0,
             "r_joint2": 0.0,
@@ -54,8 +54,8 @@ MINDBOT_CFG = ArticulationCfg(
             "r_joint5": 0.0,
             "r_joint6": 0.0,
             # ====== 左手夹爪 ======
-            "left_hand_joint_left": 0.0,     # 0.0=打开, -0.03=闭合
+            "left_hand_joint_left": 0.0,  # 0.0=打开, -0.03=闭合
-            "left_hand_joint_right": 0.0,    # 0.0=打开,  0.03=闭合
+            "left_hand_joint_right": 0.0,  # 0.0=打开,  0.03=闭合
             # ====== 右手夹爪 ======
             "right_hand_joint_left": 0.0,
             "right_hand_joint_right": 0.0,
@@ -65,7 +65,7 @@ MINDBOT_CFG = ArticulationCfg(
             "head_revoluteJoint": 0.0,
         },
         # Lower the spawn height to sit on the ground (was 0.05m above ground)
-        pos=(0, 0, 0.0),
+        pos=(0.0, 0.0, 0.0),
     ),
     actuators={
         "left_arm": ImplicitActuatorCfg(

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

@@ -47,6 +47,7 @@ import isaaclab.utils.assets as assets_utils
 # Scene Configuration
 # =====================================================================
 
+
 @configclass
 class MindRobotTeleopSceneCfg(InteractiveSceneCfg):
     """Minimal scene for MindRobot teleoperation: robot + table + optional cube."""
@@ -54,7 +55,7 @@ class MindRobotTeleopSceneCfg(InteractiveSceneCfg):
     # Ground plane
     plane = AssetBaseCfg(
         prim_path="/World/GroundPlane",
-        init_state=AssetBaseCfg.InitialStateCfg(pos=[0, 0, -1.05]),
+        init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 0.0, 0.0]),
         spawn=GroundPlaneCfg(),
     )
 
@@ -75,15 +76,22 @@ class MindRobotTeleopSceneCfg(InteractiveSceneCfg):
             rigid_props=RigidBodyPropertiesCfg(),
             mass_props=sim_utils.MassPropertiesCfg(mass=0.1),
             collision_props=sim_utils.CollisionPropertiesCfg(),
-            visual_material=sim_utils.PreviewSurfaceCfg(
+            visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0)),
-                diffuse_color=(1.0, 0.0, 0.0)
-            ),
         ),
         init_state=RigidObjectCfg.InitialStateCfg(pos=(0.5, 0.0, 0.45)),
     )
 
+    room = AssetBaseCfg(
+        prim_path="{ENV_REGEX_NS}/Room",
+        spawn=sim_utils.UsdFileCfg(
+            usd_path="/home/maic/LYT/maic_usd_assets/twinlab/Collected_lab2/lab.usd",
+        ),
+    )
+
     # MindRobot
-    robot: ArticulationCfg = MINDBOT_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+    robot: ArticulationCfg = MINDBOT_HIGH_PD_CFG.replace(
+        prim_path="{ENV_REGEX_NS}/Robot"
+    )
 
     # Lighting
     light = AssetBaseCfg(
@@ -99,6 +107,7 @@ class MindRobotTeleopSceneCfg(InteractiveSceneCfg):
 # Actions Configuration
 # =====================================================================
 
+
 @configclass
 class MindRobotTeleopActionsCfg:
     """Actions for MindRobot left arm IK teleoperation."""
@@ -138,6 +147,7 @@ class MindRobotTeleopActionsCfg:
 # Observations Configuration
 # =====================================================================
 
+
 @configclass
 class MindRobotTeleopObsCfg:
     """Minimal observations for MindRobot teleoperation."""
@@ -165,6 +175,7 @@ class MindRobotTeleopObsCfg:
 # Terminations Configuration
 # =====================================================================
 
+
 @configclass
 class MindRobotTeleopTerminationsCfg:
     """Minimal terminations for teleoperation - only time_out or none."""
@@ -177,10 +188,12 @@ class MindRobotTeleopTerminationsCfg:
 # Main Environment Configuration
 # =====================================================================
 
+
 @configclass
 class EmptyCfg:
     pass
 
+
 @configclass
 class MindRobotLeftArmIKEnvCfg(ManagerBasedRLEnvCfg):
     """MindRobot 左臂 IK-Rel 遥操作环境配置（最小化版本）。"""

source/mindbot/mindbot/tasks/manager_based/rl/pullUltrasoundLidUp/mindbot_env_cfg.py

@@ -97,12 +97,12 @@ LID_CFG = RigidObjectCfg(
     ),
 )
 
-ROOM_CFG = AssetBaseCfg(
+# ROOM_CFG = AssetBaseCfg(
-    prim_path="{ENV_REGEX_NS}/Room",
+#     prim_path="{ENV_REGEX_NS}/Room",
-    spawn=UsdFileCfg(
+#     spawn=UsdFileCfg(
-        usd_path="/home/maic/LYT/maic_usd_assets/twinlab/MIC_sim-3.0/244_140/room.usd",
+#         usd_path="/home/maic/LYT/maic_usd_assets/twinlab/MIC_sim-3.0/244_140/room.usd",
-    ),
+#     ),
-)
+# )
 ROOM_CFG = AssetBaseCfg(
     prim_path="{ENV_REGEX_NS}/Room",
     spawn=UsdFileCfg(