diff --git a/deps/cloudxr/INSTALL.md b/deps/cloudxr/INSTALL.md
index 3725125..a0b96cb 100644
--- a/deps/cloudxr/INSTALL.md
+++ b/deps/cloudxr/INSTALL.md
@@ -179,9 +179,10 @@ npm run dev-server:https
 
 ```bash
 cd ~/IsaacLab
-./docker/container.py start \
+sudo ./docker/container.py start \
     --files docker-compose.cloudxr-runtime.patch.yaml \
-    --env-file .env.cloudxr-runtime
+             docker-compose.mindbot.patch.yaml \
+    --env-files .env.cloudxr-runtime
 
 # 进入 Isaac Lab 容器
 ./docker/container.py enter base
@@ -190,7 +191,7 @@ cd ~/IsaacLab
 容器内运行 MindBot 遥操作：
 
 ```bash
-./isaaclab.sh -p scripts/environments/teleoperation/teleop_se3_agent.py \
+/workspace/isaaclab/isaaclab.sh -p scripts/environments/teleoperation/teleop_se3_agent.py \
     --task Isaac-PickPlace-GR1T2-Abs-v0 \
     --teleop_device handtracking \
     --enable_pinocchio
diff --git a/source/mindbot/mindbot/tasks/manager_based/il/pick_place/pickplace_gr1t2_env_cfg.py b/source/mindbot/mindbot/tasks/manager_based/il/pick_place/pickplace_gr1t2_env_cfg.py
index 64ee21e..78c341b 100644
--- a/source/mindbot/mindbot/tasks/manager_based/il/pick_place/pickplace_gr1t2_env_cfg.py
+++ b/source/mindbot/mindbot/tasks/manager_based/il/pick_place/pickplace_gr1t2_env_cfg.py
@@ -103,16 +103,16 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
         ),
     )
 
-    object = RigidObjectCfg(
-        prim_path="{ENV_REGEX_NS}/Object",
-        # init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.45, 0.45, 0.9996], rot=[1, 0, 0, 0]),
-        init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.65, 0.45, 0.9996], rot=[1, 0, 0, 0]),
-        spawn=UsdFileCfg(
-            usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Mimic/pick_place_task/pick_place_assets/steering_wheel.usd",
-            scale=(0.75, 0.75, 0.75),
-            rigid_props=sim_utils.RigidBodyPropertiesCfg(),
-        ),
-    )
+    # object = RigidObjectCfg(
+    #     prim_path="{ENV_REGEX_NS}/Object",
+    #     # init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.45, 0.45, 0.9996], rot=[1, 0, 0, 0]),
+    #     init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.65, 0.45, 0.9996], rot=[1, 0, 0, 0]),
+    #     spawn=UsdFileCfg(
+    #         usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Mimic/pick_place_task/pick_place_assets/steering_wheel.usd",
+    #         scale=(0.75, 0.75, 0.75),
+    #         rigid_props=sim_utils.RigidBodyPropertiesCfg(),
+    #     ),
+    # )
 
     # Humanoid robot configured for pick-place manipulation tasks
     robot: ArticulationCfg = GR1T2_HIGH_PD_CFG.replace(
@@ -296,8 +296,8 @@ class ObservationsCfg:
         )
         robot_root_pos = ObsTerm(func=base_mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("robot")})
         robot_root_rot = ObsTerm(func=base_mdp.root_quat_w, params={"asset_cfg": SceneEntityCfg("robot")})
-        object_pos = ObsTerm(func=base_mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("object")})
-        object_rot = ObsTerm(func=base_mdp.root_quat_w, params={"asset_cfg": SceneEntityCfg("object")})
+        # object_pos = ObsTerm(func=base_mdp.root_pos_w, params={"asset_cfg": SceneEntityCfg("object")})
+        # object_rot = ObsTerm(func=base_mdp.root_quat_w, params={"asset_cfg": SceneEntityCfg("object")})
         robot_links_state = ObsTerm(func=mdp.get_all_robot_link_state)
 
         left_eef_pos = ObsTerm(func=mdp.get_eef_pos, params={"link_name": "left_hand_roll_link"})
@@ -311,10 +311,10 @@ class ObservationsCfg:
             params={"joint_names": ["head_pitch_joint", "head_roll_joint", "head_yaw_joint"]},
         )
 
-        object = ObsTerm(
-            func=mdp.object_obs,
-            params={"left_eef_link_name": "left_hand_roll_link", "right_eef_link_name": "right_hand_roll_link"},
-        )
+        # object = ObsTerm(
+        #     func=mdp.object_obs,
+        #     params={"left_eef_link_name": "left_hand_roll_link", "right_eef_link_name": "right_hand_roll_link"},
+        # )
 
         def __post_init__(self):
             self.enable_corruption = False
@@ -330,11 +330,11 @@ class TerminationsCfg:
 
     time_out = DoneTerm(func=mdp.time_out, time_out=True)
 
-    object_dropping = DoneTerm(
-        func=mdp.root_height_below_minimum, params={"minimum_height": 0.5, "asset_cfg": SceneEntityCfg("object")}
-    )
+    # object_dropping = DoneTerm(
+    #     func=mdp.root_height_below_minimum, params={"minimum_height": 0.5, "asset_cfg": SceneEntityCfg("object")}
+    # )
 
-    success = DoneTerm(func=mdp.task_done_pick_place, params={"task_link_name": "right_hand_roll_link"})
+    # success = DoneTerm(func=mdp.task_done_pick_place, params={"task_link_name": "right_hand_roll_link"})
 
 
 @configclass