双臂头部遥操作控制

scripts/environments/teleoperation/teleop_xr_agent.py

@@ -83,7 +83,7 @@ from xr_utils.geometry import R_HEADSET_TO_WORLD
 _ROBOT_CAM_PRIMS: dict[str, str] = {
     "Left Hand":  "/World/envs/env_0/Robot/rm_65_fb_left/Link_6/robot___left_8_02/cam_left_hand",
     "Right Hand": "/World/envs/env_0/Robot/rm_65_b_right/Link6/robot___right_8_2/cam_right_hand",
-    "Head":       "/World/envs/env_0/Robot/robot_head/cam_head",
+    "Head":       "/World/envs/env_0/Robot/robot_head/ZED_X/base_link/ZED_X/CameraLeft",
     "Chest":      "/World/envs/env_0/Robot/robot_trunk/cam_chest",
 }
 
@@ -339,6 +339,43 @@ class XrTeleopController:
         return action
 
 
+# =====================================================================
+# Head Tracking Utility
+# =====================================================================
+
+def get_head_joint_targets(
+    xr_client, neutral_rot: R | None
+) -> tuple[np.ndarray, R | None]:
+    """Extract head joint targets [yaw, pitch] from HMD pose.
+
+    At first call (neutral_rot is None) the current headset orientation
+    is recorded as the neutral reference and zeros are returned.
+    Subsequent calls return yaw/pitch relative to that neutral pose.
+
+    Returns:
+        (joint_targets, neutral_rot) where joint_targets is shape (2,)
+        float32 [head_yaw_Joint_rad, head_pitch_Joint_rad].
+    """
+    try:
+        raw_pose = xr_client.get_pose("headset")
+        if not is_valid_quaternion(raw_pose[3:]):
+            return np.zeros(2, dtype=np.float32), neutral_rot
+        _, head_world_quat_xyzw = transform_xr_pose(raw_pose[:3], raw_pose[3:])
+        head_rot = R.from_quat(head_world_quat_xyzw)
+        if neutral_rot is None:
+            # First call — record neutral and hold zero
+            return np.zeros(2, dtype=np.float32), head_rot
+        # Relative rotation from neutral heading
+        rel_rot = head_rot * neutral_rot.inv()
+        # ZYX Euler: [0]=yaw (Z), [1]=pitch (Y)
+        euler_zyx = rel_rot.as_euler("ZYX")
+        yaw   = float(np.clip(euler_zyx[0], -1.57, 1.57))   # ±90°
+        pitch = float(np.clip(euler_zyx[1], -0.52, 0.52))   # ±30°
+        return np.array([yaw, pitch], dtype=np.float32), neutral_rot
+    except Exception:
+        return np.zeros(2, dtype=np.float32), neutral_rot
+
+
 # =====================================================================
 # Main Execution Loop
 # =====================================================================
@@ -519,6 +556,7 @@ def main() -> None:
     clear_ik_target_state()
     last_root_left = None
     last_root_right = None
+    neutral_head_rot = None  # calibrated on first headset sample after reset
 
     while simulation_app.is_running():
         try:
@@ -534,11 +572,18 @@ def main() -> None:
                     sim_frame = 0
                     last_root_left = None
                     last_root_right = None
+                    neutral_head_rot = None  # re-calibrate on next headset sample
                     continue
 
                 policy_obs = obs["policy"]
                 wheel_np, v_fwd, omega_base = get_chassis_commands()
 
+                # Head tracking: HMD yaw/pitch relative to neutral pose
+                head_cmd_np, neutral_head_rot = get_head_joint_targets(
+                    teleop_interface.xr_client, neutral_head_rot
+                )
+                head_cmd = torch.tensor(head_cmd_np, dtype=torch.float32)
+
                 if is_dual_arm:
                     eef_pos_left = policy_obs["eef_pos_left"][0].cpu().numpy()
                     eef_quat_left = policy_obs["eef_quat_left"][0].cpu().numpy()
@@ -554,10 +599,11 @@ def main() -> None:
                     if teleop_right_ref.grip_active or last_root_right is None:
                         last_root_right = convert_action_world_to_root(right_action)[:7].clone()
 
-                    # Action layout: left_arm(7) | wheel(4) | left_gripper(1) | right_arm(7) | right_gripper(1)
+                    # Action layout: left_arm(7) | wheel(4) | left_gripper(1) | right_arm(7) | right_gripper(1) | head(2)
                     action_np = torch.cat([
                         last_root_left, wheel_np, left_action[7:8],
                         last_root_right, right_action[7:8],
+                        head_cmd,
                     ])
                 else:
                     eef_pos = policy_obs["eef_pos"][0].cpu().numpy()

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

@@ -56,4 +56,14 @@ gym.register(
         "robomimic_bc_cfg_entry_point": f"{__name__}.agents:robomimic/bc_rnn_low_dim.json",
     },
     disable_env_checker=True,
+)
+
+gym.register(
+    id="Isaac-MindRobot-2i-DualArm-IK-Abs-v0",
+    entry_point="isaaclab.envs:ManagerBasedRLEnv",
+    kwargs={
+        "env_cfg_entry_point": f"{__name__}.mindrobot_2i_dual_arm_ik_env_cfg:MindRobot2iDualArmIKAbsEnvCfg",
+        "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_2i_cfg.py

@@ -0,0 +1,177 @@
+# Copyright (c) 2024, MindRobot Project
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Configuration for MindRobot dual-arm robot.
+
+Arms are RealMan RM-65 (6-DOF, 5kg payload, 7.2kg self-weight, 610mm reach).
+Reference: https://develop.realman-robotics.com/robot4th/robotParameter/RM65OntologyParameters/
+
+The following configurations are available:
+
+* :obj:`MINDBOT_CFG`: Base configuration with gravity enabled (general purpose).
+* :obj:`MINDBOT_HIGH_PD_CFG`: Gravity disabled, stiffer PD for IK task-space control.
+"""
+
+import isaaclab.sim as sim_utils
+from isaaclab.actuators import ImplicitActuatorCfg
+from isaaclab.assets import ArticulationCfg
+
+from mindbot.utils.assets import MINDBOT_ASSETS_DIR
+
+MINDBOT_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{MINDBOT_ASSETS_DIR}/robots/mindrobot_2i/mindrobot_2i.usd",
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            max_depenetration_velocity=5.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            fix_root_link=False,
+            enabled_self_collisions=True,
+            solver_position_iteration_count=8,
+            solver_velocity_iteration_count=0,
+        ),
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        joint_pos={
+            # ====== Left arm (RM-65) — away from singularities ======
+            # Elbow singularity: q3=0; Wrist singularity: q5=0.
+            # Small offsets on q2/q4/q6 to avoid exact 90° Jacobian symmetry.
+            "l_joint1":  1.5708,   #  90°
+            "l_joint2": -1.2217,   # -70°  (offset from -90° for better elbow workspace)
+            "l_joint3": -1.5708,   # -90°  (away from elbow singularity q3=0)
+            "l_joint4":  1.3963,   #  80°  (offset from 90° to break wrist symmetry)
+            "l_joint5":  1.5708,   #  90°  (away from wrist singularity q5=0)
+            "l_joint6": -1.3963,   # -80°  (offset from -90° to break wrist symmetry)
+            # ====== Right arm (RM-65) — same joint values as left (verified visually) ======
+            "r_joint1":  1.5708,   #  90°
+            "r_joint2": -1.2217,   # -70°
+            "r_joint3": -1.5708,   # -90°  (away from elbow singularity q3=0)
+            "r_joint4":  1.3963,   #  80°
+            "r_joint5":  1.5708,   #  90°  (away from wrist singularity q5=0)
+            "r_joint6": 1.3963,   # -80°
+            # ====== Grippers (0=open) ======
+            "left_hand_joint_left": 0.0,
+            "left_hand_joint_right": 0.0,
+            "right_hand_joint_left": 0.0,
+            "right_hand_joint_right": 0.0,
+            # ====== Trunk & Head ======
+            "PrismaticJoint": 0.26,
+            "head_pitch_Joint": 0.0,
+            "head_yaw_Joint": 0.0,
+        },
+        pos=(0.0, 0.0, 0.7),
+    ),
+    actuators={
+        # RM-65 J1-J3: shoulder/elbow — max 180°/s ≈ 3.14 rad/s
+        "left_arm_shoulder": ImplicitActuatorCfg(
+            joint_names_expr=["l_joint[1-3]"],
+            effort_limit_sim=50.0,
+            velocity_limit_sim=3.14,
+            stiffness=80.0,
+            damping=4.0,
+        ),
+        # RM-65 J4-J6: wrist — max 225°/s ≈ 3.93 rad/s
+        "left_arm_wrist": ImplicitActuatorCfg(
+            joint_names_expr=["l_joint[4-6]"],
+            effort_limit_sim=20.0,
+            velocity_limit_sim=3.93,
+            stiffness=80.0,
+            damping=4.0,
+        ),
+        "right_arm_shoulder": ImplicitActuatorCfg(
+            joint_names_expr=["r_joint[1-3]"],
+            effort_limit_sim=50.0,
+            velocity_limit_sim=3.14,
+            stiffness=80.0,
+            damping=4.0,
+        ),
+        "right_arm_wrist": ImplicitActuatorCfg(
+            joint_names_expr=["r_joint[4-6]"],
+            effort_limit_sim=20.0,
+            velocity_limit_sim=3.93,
+            stiffness=80.0,
+            damping=4.0,
+        ),
+        "head": ImplicitActuatorCfg(
+            joint_names_expr=[
+                "head_yaw_Joint",
+                "head_pitch_Joint"
+                ],
+            effort_limit_sim=12.0,
+            stiffness=80.0,
+            damping=4.0,
+        ),
+        "trunk": ImplicitActuatorCfg(
+            joint_names_expr=["PrismaticJoint"],
+            effort_limit_sim=200.0,
+            velocity_limit_sim=0.2,
+            stiffness=1000.0,
+            damping=100.0,
+        ),
+        "wheels": ImplicitActuatorCfg(
+            # joint_names_expr=[".*_revolute_Joint"],
+            joint_names_expr=[
+                "right_b_revolute_Joint",
+                "left_b_revolute_Joint",
+                "left_f_revolute_Joint",
+                "right_f_revolute_Joint",
+            ],
+            effort_limit_sim=200.0,
+            stiffness=0.0,
+            damping=100.0,
+        ),
+        "grippers": ImplicitActuatorCfg(
+            joint_names_expr=[".*_hand_joint.*"],
+            effort_limit_sim=200.0,
+            stiffness=2e3,
+            damping=1e2,
+        ),
+    },
+    soft_joint_pos_limit_factor=1.0,
+)
+"""Base configuration for MindRobot. Gravity enabled, low PD gains."""
+
+
+MINDBOT_HIGH_PD_CFG = MINDBOT_CFG.copy()
+MINDBOT_HIGH_PD_CFG.actuators["left_arm_shoulder"].stiffness = 400.0
+MINDBOT_HIGH_PD_CFG.actuators["left_arm_shoulder"].damping = 80.0
+MINDBOT_HIGH_PD_CFG.actuators["left_arm_wrist"].stiffness = 400.0
+MINDBOT_HIGH_PD_CFG.actuators["left_arm_wrist"].damping = 80.0
+MINDBOT_HIGH_PD_CFG.actuators["right_arm_shoulder"].stiffness = 400.0
+MINDBOT_HIGH_PD_CFG.actuators["right_arm_shoulder"].damping = 80.0
+MINDBOT_HIGH_PD_CFG.actuators["right_arm_wrist"].stiffness = 400.0
+MINDBOT_HIGH_PD_CFG.actuators["right_arm_wrist"].damping = 80.0
+"""IK task-space control configuration. Gravity disabled, stiffer PD for tracking."""
+
+
+# =====================================================================
+# Robot Body / Joint Name Constants
+# Keep all robot-specific strings here so env cfgs stay robot-agnostic.
+# =====================================================================
+
+# Joint name patterns (regex, for use in action/actuator configs)
+MINDBOT_LEFT_ARM_JOINTS = "l_joint[1-6]"
+MINDBOT_RIGHT_ARM_JOINTS = "r_joint[1-6]"
+MINDBOT_LEFT_GRIPPER_JOINTS = ["left_hand_joint_left", "left_hand_joint_right"]
+MINDBOT_RIGHT_GRIPPER_JOINTS = ["right_hand_joint_left", "right_hand_joint_right"]
+MINDBOT_WHEEL_JOINTS = [
+    "right_b_revolute_Joint",
+    "left_b_revolute_Joint",
+    "left_f_revolute_Joint",
+    "right_f_revolute_Joint",
+]
+MINDBOT_HEAD_JOIONTS =[
+    "head_yaw_Joint",    #
+    "head_pitch_Joint"   
+]
+
+# EEF body names (as defined in the USD asset)
+MINDBOT_LEFT_EEF_BODY = "left_hand_body"
+MINDBOT_RIGHT_EEF_BODY = "right_hand_body"
+
+# Prim paths relative to the Robot prim (i.e. after "{ENV_REGEX_NS}/Robot/")
+MINDBOT_LEFT_ARM_PRIM_ROOT = "rm_65_fb_left"
+MINDBOT_RIGHT_ARM_PRIM_ROOT = "rm_65_b_right"
+MINDBOT_LEFT_EEF_PRIM = "rm_65_fb_left/l_hand_01/left_hand_body"
+MINDBOT_RIGHT_EEF_PRIM = "rm_65_b_right/r_hand/right_hand_body"

source/mindbot/mindbot/tasks/manager_based/il/open_drybox/mindrobot_2i_dual_arm_ik_env_cfg.py

@@ -0,0 +1,363 @@
+# Copyright (c) 2024, MindRobot Project
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""MindRobot dual-arm IK absolute environment config for XR teleoperation."""
+
+from __future__ import annotations
+
+import torch
+
+import isaaclab.sim as sim_utils
+from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
+from isaaclab.controllers.differential_ik_cfg import DifferentialIKControllerCfg
+from isaaclab.devices import DevicesCfg
+from isaaclab.devices.keyboard import Se3KeyboardCfg
+from isaaclab.devices.spacemouse import Se3SpaceMouseCfg
+from isaaclab.devices.gamepad import Se3GamepadCfg
+from isaaclab.devices.openxr import XrCfg
+from isaaclab.envs import ManagerBasedRLEnvCfg
+from isaaclab.envs.mdp.actions.actions_cfg import (
+    BinaryJointPositionActionCfg,
+    DifferentialInverseKinematicsActionCfg,
+    JointPositionActionCfg,
+    JointVelocityActionCfg,
+)
+from isaaclab.managers import EventTermCfg as EventTerm
+from isaaclab.managers import ObservationGroupCfg as ObsGroup
+from isaaclab.managers import ObservationTermCfg as ObsTerm
+from isaaclab.managers import SceneEntityCfg
+from isaaclab.managers import TerminationTermCfg as DoneTerm
+from isaaclab.markers.config import FRAME_MARKER_CFG
+from isaaclab.scene import InteractiveSceneCfg
+from isaaclab.sensors.frame_transformer.frame_transformer_cfg import FrameTransformerCfg, OffsetCfg
+from isaaclab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg
+from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg
+from isaaclab.sim.spawners.materials import RigidBodyMaterialCfg
+from isaaclab.utils import configclass
+from isaaclab.envs import ViewerCfg
+
+from . import mdp
+
+from .mindrobot_2i_cfg import (
+    MINDBOT_HIGH_PD_CFG,
+    MINDBOT_LEFT_ARM_JOINTS,
+    MINDBOT_RIGHT_ARM_JOINTS,
+    MINDBOT_LEFT_EEF_BODY,
+    MINDBOT_RIGHT_EEF_BODY,
+    MINDBOT_LEFT_GRIPPER_JOINTS,
+    MINDBOT_RIGHT_GRIPPER_JOINTS,
+    MINDBOT_WHEEL_JOINTS,
+    MINDBOT_HEAD_JOIONTS,
+    MINDBOT_LEFT_ARM_PRIM_ROOT,
+    MINDBOT_RIGHT_ARM_PRIM_ROOT,
+    MINDBOT_LEFT_EEF_PRIM,
+    MINDBOT_RIGHT_EEF_PRIM,
+)
+
+from mindbot.assets.lab import ROOM_CFG
+from mindbot.assets.table import TABLE_CFG
+from mindbot.assets.dryingbox import DRYINGBOX_CFG
+
+# =====================================================================
+# Scene Configuration
+# =====================================================================
+
+@configclass
+class MindRobotDualArmSceneCfg(InteractiveSceneCfg):
+    """Scene for MindRobot dual-arm teleoperation."""
+
+    plane = AssetBaseCfg(
+        prim_path="/World/GroundPlane",
+        init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 0.0, 0.0]),
+        spawn=GroundPlaneCfg(
+            # Moderate friction: enough traction to move forward, low enough to
+            # allow skid-steer lateral wheel slip for turning.
+            # Default (1.0/1.0) moves but can't turn; 0.4/0.3 spins in place.
+            physics_material=RigidBodyMaterialCfg(
+                static_friction=0.7,
+                dynamic_friction=0.5,
+                restitution=0.0,
+            )
+        ),
+    )
+    
+    room = ROOM_CFG.replace(prim_path="{ENV_REGEX_NS}/Room")
+    table = TABLE_CFG.replace(prim_path="{ENV_REGEX_NS}/Table")
+    drying_box = DRYINGBOX_CFG.replace(prim_path="{ENV_REGEX_NS}/DryingBox")
+
+    robot: ArticulationCfg = MINDBOT_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+
+    light = AssetBaseCfg(
+        prim_path="/World/light",
+        spawn=sim_utils.DomeLightCfg(color=(0.75, 0.75, 0.75), intensity=3000.0),
+    )
+
+    # EEF frame transformers — set in __post_init__
+    ee_frame: FrameTransformerCfg = None
+    ee_frame_right: FrameTransformerCfg = None
+
+
+# =====================================================================
+# Actions Configuration
+# =====================================================================
+
+@configclass
+class MindRobotDualArmActionsCfg:
+    """Actions for MindRobot dual-arm IK teleoperation (absolute mode).
+
+    Action vector layout (total 22D):
+        left_arm_action     (7D): [x, y, z, qw, qx, qy, qz]  absolute EEF pose, root frame
+        wheel_action        (4D): [right_b, left_b, left_f, right_f] wheel vel (rad/s)
+        left_gripper_action (1D): +1=open, -1=close
+        right_arm_action    (7D): [x, y, z, qw, qx, qy, qz]  absolute EEF pose, root frame
+        right_gripper_action(1D): +1=open, -1=close
+        head_action         (2D): [yaw_rad, pitch_rad]  absolute joint position
+    """
+
+    left_arm_action = DifferentialInverseKinematicsActionCfg(
+        asset_name="robot",
+        joint_names=[MINDBOT_LEFT_ARM_JOINTS],
+        body_name=MINDBOT_LEFT_EEF_BODY,
+        controller=DifferentialIKControllerCfg(
+            command_type="pose",
+            use_relative_mode=False,
+            ik_method="dls",
+        ),
+        scale=1,
+        body_offset=DifferentialInverseKinematicsActionCfg.OffsetCfg(pos=[0.0, 0.0, 0.0]),
+    )
+
+    wheel_action = JointVelocityActionCfg(
+        asset_name="robot",
+        joint_names=MINDBOT_WHEEL_JOINTS,
+        scale=1.0,
+    )
+
+    left_gripper_action = BinaryJointPositionActionCfg(
+        asset_name="robot",
+        joint_names=MINDBOT_LEFT_GRIPPER_JOINTS,
+        open_command_expr={"left_hand_joint_left": 0.0, "left_hand_joint_right": 0.0},
+        close_command_expr={"left_hand_joint_left": -0.03, "left_hand_joint_right": 0.03},
+    )
+
+    right_arm_action = DifferentialInverseKinematicsActionCfg(
+        asset_name="robot",
+        joint_names=[MINDBOT_RIGHT_ARM_JOINTS],
+        body_name=MINDBOT_RIGHT_EEF_BODY,
+        controller=DifferentialIKControllerCfg(
+            command_type="pose",
+            use_relative_mode=False,
+            ik_method="dls",
+        ),
+        scale=1,
+        body_offset=DifferentialInverseKinematicsActionCfg.OffsetCfg(pos=[0.0, 0.0, 0.0]),
+    )
+
+    right_gripper_action = BinaryJointPositionActionCfg(
+        asset_name="robot",
+        joint_names=MINDBOT_RIGHT_GRIPPER_JOINTS,
+        open_command_expr={"right_hand_joint_left": 0.0, "right_hand_joint_right": 0.0},
+        close_command_expr={"right_hand_joint_left": -0.03, "right_hand_joint_right": 0.03},
+    )
+
+    head_action = JointPositionActionCfg(
+        asset_name="robot",
+        joint_names=MINDBOT_HEAD_JOIONTS,
+        scale=1.0,
+    )
+
+
+# =====================================================================
+# Observations Configuration
+# =====================================================================
+
+@configclass
+class MindRobotDualArmObsCfg:
+    """Observations for dual-arm teleoperation."""
+
+    @configclass
+    class PolicyCfg(ObsGroup):
+        actions = ObsTerm(func=mdp.last_action)
+        joint_pos = ObsTerm(func=mdp.joint_pos_rel)
+        joint_vel = ObsTerm(func=mdp.joint_vel_rel)
+        # Left arm EEF
+        eef_pos_left = ObsTerm(func=mdp.ee_frame_pos)
+        eef_quat_left = ObsTerm(func=mdp.ee_frame_quat)
+        # Left gripper (2 joints)
+        left_gripper_pos = ObsTerm(
+            func=mdp.gripper_pos,
+            params={"joint_names": MINDBOT_LEFT_GRIPPER_JOINTS},
+        )
+        # Right arm EEF
+        eef_pos_right = ObsTerm(
+            func=mdp.ee_frame_pos,
+            params={"ee_frame_cfg": SceneEntityCfg("ee_frame_right")},
+        )
+        eef_quat_right = ObsTerm(
+            func=mdp.ee_frame_quat,
+            params={"ee_frame_cfg": SceneEntityCfg("ee_frame_right")},
+        )
+        # Right gripper (2 joints)
+        right_gripper_pos = ObsTerm(
+            func=mdp.gripper_pos,
+            params={"joint_names": MINDBOT_RIGHT_GRIPPER_JOINTS},
+        )
+
+        def __post_init__(self):
+            self.enable_corruption = False
+            self.concatenate_terms = False
+
+    policy: PolicyCfg = PolicyCfg()
+
+
+# =====================================================================
+# Terminations Configuration
+# =====================================================================
+
+@configclass
+class MindRobotDualArmTerminationsCfg:
+    time_out = DoneTerm(func=mdp.time_out, time_out=True)
+
+
+# =====================================================================
+# Events Configuration
+# =====================================================================
+
+def _disable_arm_gravity(env, env_ids: torch.Tensor):
+    """Disable gravity for both arm subtrees at startup."""
+    import isaaclab.sim.schemas as schemas
+
+    arm_cfg = RigidBodyPropertiesCfg(disable_gravity=True)
+    for env_id in range(env.num_envs):
+        for arm_path in [
+            f"/World/envs/env_{env_id}/Robot/{MINDBOT_LEFT_ARM_PRIM_ROOT}",
+            f"/World/envs/env_{env_id}/Robot/{MINDBOT_RIGHT_ARM_PRIM_ROOT}",
+        ]:
+            schemas.modify_rigid_body_properties(arm_path, arm_cfg)
+
+
+@configclass
+class MindRobotDualArmEventsCfg:
+    disable_arm_gravity = EventTerm(
+        func=_disable_arm_gravity,
+        mode="startup",
+    )
+    reset_scene = EventTerm(
+        func=mdp.reset_scene_to_default,
+        mode="reset",
+    )
+
+
+# =====================================================================
+# Empty placeholder configs
+# =====================================================================
+
+@configclass
+class EmptyCfg:
+    pass
+
+
+# =====================================================================
+# Main Environment Configuration
+# =====================================================================
+
+@configclass
+class MindRobot2iDualArmIKAbsEnvCfg(ManagerBasedRLEnvCfg):
+    """MindRobot 双臂 IK-Abs 遥操作环境配置（XR 控制器）。"""
+
+    scene: MindRobotDualArmSceneCfg = MindRobotDualArmSceneCfg(
+        num_envs=1,
+        env_spacing=2.5,
+    )
+
+    observations: MindRobotDualArmObsCfg = MindRobotDualArmObsCfg()
+    actions: MindRobotDualArmActionsCfg = MindRobotDualArmActionsCfg()
+    terminations: MindRobotDualArmTerminationsCfg = MindRobotDualArmTerminationsCfg()
+    events: MindRobotDualArmEventsCfg = MindRobotDualArmEventsCfg()
+
+    commands: EmptyCfg = EmptyCfg()
+    rewards: EmptyCfg = EmptyCfg()
+    curriculum: EmptyCfg = EmptyCfg()
+
+    xr: XrCfg = XrCfg(
+        anchor_pos=(-0.1, -0.5, -1.05),
+        anchor_rot=(0.866, 0, 0, -0.5),
+    )
+
+    def __post_init__(self):
+        super().__post_init__()
+
+        self.viewer = ViewerCfg(
+            eye=(2.0, -1.5, 1.8),      # 相机位置
+            lookat=(0.0, 0.0, 0.8),    # 瞄准点（机器人腰部高度附近）
+            origin_type="world",
+        )
+        self.decimation = 2
+        self.episode_length_s = 50.0
+        self.sim.dt = 0.01  # 100 Hz
+        self.sim.render_interval = 2
+
+        # Mobile base — root link not fixed
+        robot_cfg = MINDBOT_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+        robot_cfg.spawn.articulation_props.fix_root_link = False
+        self.scene.robot = robot_cfg
+
+        # Left arm EEF frame transformer
+        marker_cfg = FRAME_MARKER_CFG.copy()
+        marker_cfg.markers["frame"].scale = (0.1, 0.1, 0.1)
+        marker_cfg.prim_path = "/Visuals/FrameTransformerLeft"
+        self.scene.ee_frame = FrameTransformerCfg(
+            prim_path=f"{{ENV_REGEX_NS}}/Robot/{MINDBOT_LEFT_ARM_PRIM_ROOT}/base_link",
+            debug_vis=False,
+            visualizer_cfg=marker_cfg,
+            target_frames=[
+                FrameTransformerCfg.FrameCfg(
+                    prim_path=f"{{ENV_REGEX_NS}}/Robot/{MINDBOT_LEFT_EEF_PRIM}",
+                    name="end_effector",
+                    offset=OffsetCfg(pos=[0.0, 0.0, 0.0]),
+                ),
+            ],
+        )
+
+        # Right arm EEF frame transformer
+        marker_cfg_right = FRAME_MARKER_CFG.copy()
+        marker_cfg_right.markers["frame"].scale = (0.1, 0.1, 0.1)
+        marker_cfg_right.prim_path = "/Visuals/FrameTransformerRight"
+        self.scene.ee_frame_right = FrameTransformerCfg(
+            prim_path=f"{{ENV_REGEX_NS}}/Robot/{MINDBOT_RIGHT_ARM_PRIM_ROOT}/base_link",
+            debug_vis=False,
+            visualizer_cfg=marker_cfg_right,
+            target_frames=[
+                FrameTransformerCfg.FrameCfg(
+                    prim_path=f"{{ENV_REGEX_NS}}/Robot/{MINDBOT_RIGHT_EEF_PRIM}",
+                    name="end_effector",
+                    offset=OffsetCfg(pos=[0.0, 0.0, 0.0]),
+                ),
+            ],
+        )
+
+        # Teleoperation devices
+        self.teleop_devices = DevicesCfg(
+            devices={
+                "keyboard": Se3KeyboardCfg(
+                    pos_sensitivity=0.05,
+                    rot_sensitivity=0.05,
+                    sim_device=self.sim.device,
+                ),
+                "spacemouse": Se3SpaceMouseCfg(
+                    pos_sensitivity=0.05,
+                    rot_sensitivity=0.05,
+                    sim_device=self.sim.device,
+                ),
+                "gamepad": Se3GamepadCfg(
+                    pos_sensitivity=0.1,
+                    rot_sensitivity=0.1,
+                    sim_device=self.sim.device,
+                ),
+            }
+        )
+
+        # Gripper params (left gripper for single-arm compat; dual-arm uses obs directly)
+        self.gripper_joint_names = MINDBOT_LEFT_GRIPPER_JOINTS
+        self.gripper_open_val = 0.0
+        self.gripper_threshold = 0.005