diff --git a/environment_check.log b/environment_check.log
index 484d23f..0575818 100644
--- a/environment_check.log
+++ b/environment_check.log
@@ -44,3 +44,47 @@ Software:
 2025-07-01 11:57:08,308 - INFO - ✓ GPU检查: 检测到NVIDIA GPU
 2025-07-01 11:57:08,308 - INFO - ✓ NVIDIA驱动版本检查: NVIDIA驱动版本 570.124，满足要求 (>=470)，同时满足去噪要求 (>=520)
 2025-07-01 11:57:08,308 - INFO - ✓ CUDA版本检查: CUDA版本 12.8，不是推荐的 12.1，可能会遇到兼容性问题
+2025-07-03 09:54:02,875 - INFO - 
+=== RoboTwin Dependencies ===
+2025-07-03 09:54:02,875 - INFO - 
+Python versions:
+* Python 3.8, 3.10
+
+Operating systems:
+* Linux: Ubuntu 18.04+, Centos 7+
+
+Hardware:
+* Rendering: NVIDIA or AMD GPU
+  * Recommended CUDA Version: 12.1
+* Ray tracing: NVIDIA RTX GPU or AMD equivalent
+* Ray-tracing Denoising: NVIDIA GPU
+* GPU Simulation: NVIDIA GPU
+
+Software:
+* Ray tracing: NVIDIA Driver >= 470
+* Denoising (OIDN): NVIDIA Driver >= 520
+* CUDA Version: 12.1
+* Conda: Required
+
+2025-07-03 09:54:02,876 - INFO - 执行: cat /etc/os-release
+2025-07-03 09:54:02,878 - INFO - 命令执行成功: cat /etc/os-release
+2025-07-03 09:54:02,878 - INFO - === 检查Conda是否已安装 ===
+2025-07-03 09:54:02,878 - INFO - 执行: conda --version
+2025-07-03 09:54:03,259 - INFO - 命令执行成功: conda --version
+2025-07-03 09:54:03,259 - INFO - === 检查Conda初始化状态 ===
+2025-07-03 09:54:03,259 - INFO - 执行: conda info | grep -i 'initialized'
+2025-07-03 09:54:03,908 - ERROR - 命令执行失败: conda info | grep -i 'initialized'
+2025-07-03 09:54:03,908 - ERROR - 错误信息: 
+2025-07-03 09:54:03,908 - INFO - === 检查NVIDIA GPU ===
+2025-07-03 09:54:03,908 - INFO - 执行: nvidia-smi
+2025-07-03 09:54:04,025 - INFO - 命令执行成功: nvidia-smi
+2025-07-03 09:54:04,025 - INFO - === 检查CUDA版本 ===
+2025-07-03 09:54:04,025 - INFO - 执行: nvcc --version
+2025-07-03 09:54:04,028 - INFO - 命令执行成功: nvcc --version
+2025-07-03 09:54:04,028 - INFO - 
+=== 环境依赖检查结果 ===
+2025-07-03 09:54:04,028 - INFO - ✓ 操作系统检查: Ubuntu 20.04，满足要求 (Ubuntu 18.04+)
+2025-07-03 09:54:04,028 - INFO - ✓ Conda检查: Conda已安装 (版本 25.3.0), 但可能未正确初始化，请运行 'conda init bash'
+2025-07-03 09:54:04,028 - INFO - ✓ GPU检查: 检测到NVIDIA GPU
+2025-07-03 09:54:04,028 - INFO - ✓ NVIDIA驱动版本检查: NVIDIA驱动版本 570.124，满足要求 (>=470)，同时满足去噪要求 (>=520)
+2025-07-03 09:54:04,028 - INFO - ✓ CUDA版本检查: CUDA版本 12.1，满足建议版本 (12.1)
diff --git a/environment_check_results.json b/environment_check_results.json
index 8a278ee..11ea9c4 100644
--- a/environment_check_results.json
+++ b/environment_check_results.json
@@ -1 +1 @@
-{"dependencies_met": true, "check_results": [{"name": "\u64cd\u4f5c\u7cfb\u7edf\u68c0\u67e5", "passed": true, "details": "Ubuntu 20.04\uff0c\u6ee1\u8db3\u8981\u6c42 (Ubuntu 18.04+)"}, {"name": "Conda\u68c0\u67e5", "passed": true, "details": "Conda\u5df2\u5b89\u88c5 (\u7248\u672c 25.3.0), \u4f46\u53ef\u80fd\u672a\u6b63\u786e\u521d\u59cb\u5316\uff0c\u8bf7\u8fd0\u884c 'conda init bash'"}, {"name": "GPU\u68c0\u67e5", "passed": true, "details": "\u68c0\u6d4b\u5230NVIDIA GPU"}, {"name": "NVIDIA\u9a71\u52a8\u7248\u672c\u68c0\u67e5", "passed": true, "details": "NVIDIA\u9a71\u52a8\u7248\u672c 570.124\uff0c\u6ee1\u8db3\u8981\u6c42 (>=470)\uff0c\u540c\u65f6\u6ee1\u8db3\u53bb\u566a\u8981\u6c42 (>=520)"}, {"name": "CUDA\u7248\u672c\u68c0\u67e5", "passed": true, "details": "CUDA\u7248\u672c 12.8\uff0c\u4e0d\u662f\u63a8\u8350\u7684 12.1\uff0c\u53ef\u80fd\u4f1a\u9047\u5230\u517c\u5bb9\u6027\u95ee\u9898"}]}
\ No newline at end of file
+{"dependencies_met": true, "check_results": [{"name": "\u64cd\u4f5c\u7cfb\u7edf\u68c0\u67e5", "passed": true, "details": "Ubuntu 20.04\uff0c\u6ee1\u8db3\u8981\u6c42 (Ubuntu 18.04+)"}, {"name": "Conda\u68c0\u67e5", "passed": true, "details": "Conda\u5df2\u5b89\u88c5 (\u7248\u672c 25.3.0), \u4f46\u53ef\u80fd\u672a\u6b63\u786e\u521d\u59cb\u5316\uff0c\u8bf7\u8fd0\u884c 'conda init bash'"}, {"name": "GPU\u68c0\u67e5", "passed": true, "details": "\u68c0\u6d4b\u5230NVIDIA GPU"}, {"name": "NVIDIA\u9a71\u52a8\u7248\u672c\u68c0\u67e5", "passed": true, "details": "NVIDIA\u9a71\u52a8\u7248\u672c 570.124\uff0c\u6ee1\u8db3\u8981\u6c42 (>=470)\uff0c\u540c\u65f6\u6ee1\u8db3\u53bb\u566a\u8981\u6c42 (>=520)"}, {"name": "CUDA\u7248\u672c\u68c0\u67e5", "passed": true, "details": "CUDA\u7248\u672c 12.1\uff0c\u6ee1\u8db3\u5efa\u8bae\u7248\u672c (12.1)"}]}
\ No newline at end of file
diff --git a/environment_setup.log b/environment_setup.log
index 4c37f7d..17669f7 100644
--- a/environment_setup.log
+++ b/environment_setup.log
@@ -309,3 +309,294 @@
 2025-07-02 02:54:03,610 - INFO - ✗ 下载资源
 2025-07-02 02:54:03,610 - INFO - ✓ 修改mplib - 移除convex=True
 2025-07-02 02:54:03,610 - INFO - ✓ 修改mplib - 移除 or collide
+2025-07-02 07:28:37,687 - INFO - === 获取conda基础路径 ===
+2025-07-02 07:28:37,687 - INFO - 执行: conda info --base
+2025-07-02 07:28:38,267 - INFO - 命令执行成功: conda info --base
+2025-07-02 07:28:38,267 - INFO - Conda 基础路径: /opt/conda
+2025-07-02 07:28:38,267 - INFO - === 安装Vulkan ===
+2025-07-02 07:28:38,267 - INFO - 执行: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
+2025-07-02 07:28:38,268 - ERROR - 命令执行失败: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
+2025-07-02 07:28:38,268 - INFO - === 检查是否存在RoboTwin环境 ===
+2025-07-02 07:28:38,268 - INFO - 执行: conda env list | grep -w RoboTwin || echo ''
+2025-07-02 07:28:38,842 - INFO - 命令执行成功: conda env list | grep -w RoboTwin || echo ''
+2025-07-02 07:28:38,842 - INFO - RoboTwin环境不存在，将创建新环境
+2025-07-02 07:28:38,842 - INFO - === 创建conda环境 ===
+2025-07-02 07:28:38,842 - INFO - 执行: conda create -n RoboTwin python=3.8 -y
+2025-07-02 07:30:50,205 - INFO - 命令执行成功: conda create -n RoboTwin python=3.8 -y
+2025-07-02 07:30:50,205 - INFO - 开始安装基本依赖包...
+2025-07-02 07:30:50,205 - INFO - === 安装基本依赖 ===
+2025-07-02 07:30:50,205 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0
+2025-07-02 07:32:27,098 - ERROR - 命令执行失败: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0
+2025-07-02 07:32:27,098 - INFO - 开始安装pytorch3d...
+2025-07-02 07:32:27,098 - INFO - === 安装pytorch3d ===
+2025-07-02 07:32:27,098 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../..
+2025-07-02 07:32:27,825 - ERROR - 命令执行失败: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../..
+2025-07-02 07:32:27,825 - INFO - === 检查资源文件是否已存在 ===
+2025-07-02 07:32:27,825 - INFO - 执行: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
+2025-07-02 07:32:27,827 - INFO - 命令执行成功: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
+2025-07-02 07:32:27,828 - INFO - 开始下载资源文件...
+2025-07-02 07:32:27,828 - INFO - === 下载资源 ===
+2025-07-02 07:32:27,828 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi
+2025-07-02 07:32:28,197 - ERROR - 命令执行失败: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi
+2025-07-02 07:32:28,197 - INFO - 开始修改 mplib 库代码...
+2025-07-02 07:32:28,197 - INFO - === 查找mplib位置 ===
+2025-07-02 07:32:28,197 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}'
+2025-07-02 07:32:28,701 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}'
+2025-07-02 07:32:28,701 - INFO - mplib planner.py 路径: WARNING: Package(s) not found: mplib/mplib/planner.py
+2025-07-02 07:32:28,702 - ERROR - mplib planner.py 文件不存在: WARNING: Package(s) not found: mplib/mplib/planner.py
+2025-07-02 07:32:28,702 - INFO - 
+=== 环境配置总结 ===
+2025-07-02 07:32:28,702 - INFO - 总步骤: 6, 成功: 1, 失败: 5
+2025-07-02 07:32:28,702 - INFO - ✗ 安装Vulkan
+2025-07-02 07:32:28,702 - INFO - ✓ 创建conda环境
+2025-07-02 07:32:28,702 - INFO - ✗ 安装基本依赖
+2025-07-02 07:32:28,702 - INFO - ✗ 安装pytorch3d
+2025-07-02 07:32:28,702 - INFO - ✗ 下载资源
+2025-07-02 07:32:28,702 - INFO - ✗ 查找mplib文件
+2025-07-03 08:24:02,070 - INFO - === 获取conda基础路径 ===
+2025-07-03 08:24:02,070 - INFO - 执行: conda info --base
+2025-07-03 08:24:02,684 - INFO - 命令执行成功: conda info --base
+2025-07-03 08:24:02,684 - INFO - Conda 基础路径: /opt/conda
+2025-07-03 08:24:02,684 - INFO - === 安装Vulkan ===
+2025-07-03 08:24:02,684 - INFO - 执行: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
+2025-07-03 08:24:02,685 - ERROR - 命令执行失败: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
+2025-07-03 08:24:02,685 - INFO - === 检查是否存在RoboTwin环境 ===
+2025-07-03 08:24:02,685 - INFO - 执行: conda env list | grep -w RoboTwin || echo ''
+2025-07-03 08:24:03,295 - INFO - 命令执行成功: conda env list | grep -w RoboTwin || echo ''
+2025-07-03 08:24:03,295 - INFO - === 验证RoboTwin环境 ===
+2025-07-03 08:24:03,295 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail'
+2025-07-03 08:24:04,129 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail'
+2025-07-03 08:24:04,129 - INFO - RoboTwin环境验证成功，将直接激活
+2025-07-03 08:24:04,129 - INFO - 开始安装基本依赖包...
+2025-07-03 08:24:04,129 - INFO - === 安装基本依赖 ===
+2025-07-03 08:24:04,129 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0
+2025-07-03 08:28:47,293 - ERROR - 命令执行失败: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0
+2025-07-03 08:28:47,293 - INFO - 开始安装pytorch3d...
+2025-07-03 08:28:47,293 - INFO - === 安装pytorch3d ===
+2025-07-03 08:28:47,293 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../..
+2025-07-03 08:28:48,032 - ERROR - 命令执行失败: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../..
+2025-07-03 08:28:48,032 - INFO - === 检查资源文件是否已存在 ===
+2025-07-03 08:28:48,033 - INFO - 执行: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
+2025-07-03 08:28:48,035 - INFO - 命令执行成功: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
+2025-07-03 08:28:48,035 - INFO - 开始下载资源文件...
+2025-07-03 08:28:48,035 - INFO - === 下载资源 ===
+2025-07-03 08:28:48,035 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi
+2025-07-03 08:28:48,417 - ERROR - 命令执行失败: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi
+2025-07-03 08:28:48,417 - INFO - 开始修改 mplib 库代码...
+2025-07-03 08:28:48,417 - INFO - === 查找mplib位置 ===
+2025-07-03 08:28:48,417 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}'
+2025-07-03 08:28:48,951 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}'
+2025-07-03 08:28:48,951 - INFO - mplib planner.py 路径: WARNING: Package(s) not found: mplib/mplib/planner.py
+2025-07-03 08:28:48,951 - ERROR - mplib planner.py 文件不存在: WARNING: Package(s) not found: mplib/mplib/planner.py
+2025-07-03 08:28:48,951 - INFO - 
+=== 环境配置总结 ===
+2025-07-03 08:28:48,951 - INFO - 总步骤: 6, 成功: 1, 失败: 5
+2025-07-03 08:28:48,951 - INFO - ✗ 安装Vulkan
+2025-07-03 08:28:48,951 - INFO - ✓ 检查conda环境
+2025-07-03 08:28:48,951 - INFO - ✗ 安装基本依赖
+2025-07-03 08:28:48,951 - INFO - ✗ 安装pytorch3d
+2025-07-03 08:28:48,951 - INFO - ✗ 下载资源
+2025-07-03 08:28:48,951 - INFO - ✗ 查找mplib文件
+2025-07-03 08:56:46,195 - INFO - === 获取conda基础路径 ===
+2025-07-03 08:56:46,195 - INFO - 执行: conda info --base
+2025-07-03 08:56:46,831 - INFO - 命令执行成功: conda info --base
+2025-07-03 08:56:46,831 - INFO - Conda 基础路径: /opt/conda
+2025-07-03 08:56:46,831 - INFO - === 安装Vulkan ===
+2025-07-03 08:56:46,831 - INFO - 执行: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
+2025-07-03 08:56:46,832 - ERROR - 命令执行失败: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
+2025-07-03 08:56:46,832 - INFO - === 检查是否存在RoboTwin环境 ===
+2025-07-03 08:56:46,833 - INFO - 执行: conda env list | grep -w RoboTwin || echo ''
+2025-07-03 08:56:47,452 - INFO - 命令执行成功: conda env list | grep -w RoboTwin || echo ''
+2025-07-03 08:56:47,452 - INFO - === 验证RoboTwin环境 ===
+2025-07-03 08:56:47,452 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail'
+2025-07-03 08:56:48,293 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail'
+2025-07-03 08:56:48,293 - INFO - RoboTwin环境验证成功，将直接激活
+2025-07-03 08:56:48,293 - INFO - 开始安装基本依赖包...
+2025-07-03 08:56:48,293 - INFO - === 安装基本依赖 ===
+2025-07-03 08:56:48,293 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0
+2025-07-03 08:57:41,659 - ERROR - 命令执行失败: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0
+2025-07-03 08:57:41,659 - INFO - 开始安装pytorch3d...
+2025-07-03 08:57:41,659 - INFO - === 安装pytorch3d ===
+2025-07-03 08:57:41,659 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../..
+2025-07-03 08:57:42,404 - ERROR - 命令执行失败: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../..
+2025-07-03 08:57:42,404 - INFO - === 检查资源文件是否已存在 ===
+2025-07-03 08:57:42,405 - INFO - 执行: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
+2025-07-03 08:57:42,406 - INFO - 命令执行成功: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
+2025-07-03 08:57:42,407 - INFO - 开始下载资源文件...
+2025-07-03 08:57:42,407 - INFO - === 下载资源 ===
+2025-07-03 08:57:42,407 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi
+2025-07-03 08:57:42,798 - ERROR - 命令执行失败: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi
+2025-07-03 08:57:42,798 - INFO - 开始修改 mplib 库代码...
+2025-07-03 08:57:42,798 - INFO - === 查找mplib位置 ===
+2025-07-03 08:57:42,798 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}'
+2025-07-03 08:57:43,330 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}'
+2025-07-03 08:57:43,330 - INFO - mplib planner.py 路径: WARNING: Package(s) not found: mplib/mplib/planner.py
+2025-07-03 08:57:43,330 - ERROR - mplib planner.py 文件不存在: WARNING: Package(s) not found: mplib/mplib/planner.py
+2025-07-03 08:57:43,330 - INFO - 
+=== 环境配置总结 ===
+2025-07-03 08:57:43,330 - INFO - 总步骤: 6, 成功: 1, 失败: 5
+2025-07-03 08:57:43,330 - INFO - ✗ 安装Vulkan
+2025-07-03 08:57:43,330 - INFO - ✓ 检查conda环境
+2025-07-03 08:57:43,330 - INFO - ✗ 安装基本依赖
+2025-07-03 08:57:43,330 - INFO - ✗ 安装pytorch3d
+2025-07-03 08:57:43,330 - INFO - ✗ 下载资源
+2025-07-03 08:57:43,330 - INFO - ✗ 查找mplib文件
+2025-07-03 08:58:14,283 - INFO - === 获取conda基础路径 ===
+2025-07-03 08:58:14,283 - INFO - 执行: conda info --base
+2025-07-03 08:58:14,917 - INFO - 命令执行成功: conda info --base
+2025-07-03 08:58:14,917 - INFO - Conda 基础路径: /opt/conda
+2025-07-03 08:58:14,917 - INFO - === 安装Vulkan ===
+2025-07-03 08:58:14,917 - INFO - 执行: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
+2025-07-03 08:58:14,919 - ERROR - 命令执行失败: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
+2025-07-03 08:58:14,919 - INFO - === 检查是否存在RoboTwin环境 ===
+2025-07-03 08:58:14,919 - INFO - 执行: conda env list | grep -w RoboTwin || echo ''
+2025-07-03 08:58:15,543 - INFO - 命令执行成功: conda env list | grep -w RoboTwin || echo ''
+2025-07-03 08:58:15,543 - INFO - === 验证RoboTwin环境 ===
+2025-07-03 08:58:15,543 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail'
+2025-07-03 08:58:16,369 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail'
+2025-07-03 08:58:16,370 - INFO - RoboTwin环境验证成功，将直接激活
+2025-07-03 08:58:16,370 - INFO - 开始安装基本依赖包...
+2025-07-03 08:58:16,370 - INFO - === 安装基本依赖 ===
+2025-07-03 08:58:16,370 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0
+2025-07-03 09:01:13,777 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0
+2025-07-03 09:01:13,778 - INFO - 开始安装pytorch3d...
+2025-07-03 09:01:13,778 - INFO - === 安装pytorch3d ===
+2025-07-03 09:01:13,778 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../..
+2025-07-03 09:02:25,054 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../..
+2025-07-03 09:02:25,054 - INFO - === 检查资源文件是否已存在 ===
+2025-07-03 09:02:25,054 - INFO - 执行: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
+2025-07-03 09:02:25,056 - INFO - 命令执行成功: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
+2025-07-03 09:02:25,056 - INFO - 开始下载资源文件...
+2025-07-03 09:02:25,056 - INFO - === 下载资源 ===
+2025-07-03 09:02:25,056 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi
+2025-07-03 09:02:32,825 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi
+2025-07-03 09:02:32,826 - INFO - 开始修改 mplib 库代码...
+2025-07-03 09:02:32,826 - INFO - === 查找mplib位置 ===
+2025-07-03 09:02:32,826 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}'
+2025-07-03 09:02:33,605 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}'
+2025-07-03 09:02:33,606 - INFO - mplib planner.py 路径: /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
+2025-07-03 09:02:33,606 - INFO - === 检查mplib代码内容 ===
+2025-07-03 09:02:33,606 - INFO - 执行: cat /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
+2025-07-03 09:02:33,610 - INFO - 命令执行成功: cat /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
+2025-07-03 09:02:33,610 - INFO - 正在移除 convex=True 参数...
+2025-07-03 09:02:33,610 - INFO - === 修改mplib库代码 - 移除convex=True ===
+2025-07-03 09:02:33,610 - INFO - 执行: sed -i 's/convex=True,/# convex=True,/' /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
+2025-07-03 09:02:33,612 - INFO - 命令执行成功: sed -i 's/convex=True,/# convex=True,/' /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
+2025-07-03 09:02:33,612 - INFO - 正在移除 or collide 条件...
+2025-07-03 09:02:33,612 - INFO - === 修改mplib库代码 - 移除 or collide ===
+2025-07-03 09:02:33,612 - INFO - 执行: sed -i 's/or collide or not within_joint_limit/or not within_joint_limit/' /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
+2025-07-03 09:02:33,614 - INFO - 命令执行成功: sed -i 's/or collide or not within_joint_limit/or not within_joint_limit/' /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
+2025-07-03 09:02:33,614 - INFO - 
+=== 环境配置总结 ===
+2025-07-03 09:02:33,614 - INFO - 总步骤: 7, 成功: 6, 失败: 1
+2025-07-03 09:02:33,614 - INFO - ✗ 安装Vulkan
+2025-07-03 09:02:33,614 - INFO - ✓ 检查conda环境
+2025-07-03 09:02:33,614 - INFO - ✓ 安装基本依赖
+2025-07-03 09:02:33,614 - INFO - ✓ 安装pytorch3d
+2025-07-03 09:02:33,614 - INFO - ✓ 下载资源
+2025-07-03 09:02:33,614 - INFO - ✓ 修改mplib - 移除convex=True
+2025-07-03 09:02:33,614 - INFO - ✓ 修改mplib - 移除 or collide
+2025-07-03 09:48:18,682 - INFO - === 获取conda基础路径 ===
+2025-07-03 09:48:18,682 - INFO - 执行: conda info --base
+2025-07-03 09:48:19,350 - INFO - 命令执行成功: conda info --base
+2025-07-03 09:48:19,350 - INFO - Conda 基础路径: /opt/conda
+2025-07-03 09:48:19,350 - INFO - === 安装Vulkan ===
+2025-07-03 09:48:19,350 - INFO - 执行: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
+2025-07-03 09:48:19,352 - ERROR - 命令执行失败: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
+2025-07-03 09:48:19,352 - INFO - === 检查是否存在RoboTwin环境 ===
+2025-07-03 09:48:19,352 - INFO - 执行: conda env list | grep -w RoboTwin || echo ''
+2025-07-03 09:48:19,982 - INFO - 命令执行成功: conda env list | grep -w RoboTwin || echo ''
+2025-07-03 09:48:19,982 - INFO - === 验证RoboTwin环境 ===
+2025-07-03 09:48:19,983 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail'
+2025-07-03 09:48:22,087 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail'
+2025-07-03 09:48:22,088 - INFO - RoboTwin环境验证成功，将直接激活
+2025-07-03 09:48:22,088 - INFO - 开始安装基本依赖包...
+2025-07-03 09:48:22,088 - INFO - === 安装基本依赖 ===
+2025-07-03 09:48:22,088 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0
+2025-07-03 09:48:23,192 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0
+2025-07-03 09:48:23,192 - INFO - 开始安装pytorch3d...
+2025-07-03 09:48:23,192 - INFO - === 安装pytorch3d ===
+2025-07-03 09:48:23,192 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../..
+2025-07-03 09:48:27,965 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../..
+2025-07-03 09:48:27,965 - INFO - === 检查资源文件是否已存在 ===
+2025-07-03 09:48:27,965 - INFO - 执行: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
+2025-07-03 09:48:27,967 - INFO - 命令执行成功: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
+2025-07-03 09:48:27,968 - INFO - 开始下载资源文件...
+2025-07-03 09:48:27,968 - INFO - === 下载资源 ===
+2025-07-03 09:48:27,968 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi
+2025-07-03 09:48:35,315 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi
+2025-07-03 09:48:35,315 - INFO - 开始修改 mplib 库代码...
+2025-07-03 09:48:35,315 - INFO - === 查找mplib位置 ===
+2025-07-03 09:48:35,315 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}'
+2025-07-03 09:48:36,099 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}'
+2025-07-03 09:48:36,100 - INFO - mplib planner.py 路径: /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
+2025-07-03 09:48:36,100 - INFO - === 检查mplib代码内容 ===
+2025-07-03 09:48:36,100 - INFO - 执行: cat /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
+2025-07-03 09:48:36,104 - INFO - 命令执行成功: cat /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
+2025-07-03 09:48:36,104 - INFO - 正在移除 convex=True 参数...
+2025-07-03 09:48:36,104 - INFO - === 修改mplib库代码 - 移除convex=True ===
+2025-07-03 09:48:36,104 - INFO - 执行: sed -i 's/convex=True,/# convex=True,/' /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
+2025-07-03 09:48:36,107 - INFO - 命令执行成功: sed -i 's/convex=True,/# convex=True,/' /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
+2025-07-03 09:48:36,107 - INFO - mplib中的'or collide'已经被移除，跳过此步骤
+2025-07-03 09:48:36,107 - INFO - 
+=== 环境配置总结 ===
+2025-07-03 09:48:36,107 - INFO - 总步骤: 7, 成功: 6, 失败: 1
+2025-07-03 09:48:36,107 - INFO - ✗ 安装Vulkan
+2025-07-03 09:48:36,107 - INFO - ✓ 检查conda环境
+2025-07-03 09:48:36,107 - INFO - ✓ 安装基本依赖
+2025-07-03 09:48:36,107 - INFO - ✓ 安装pytorch3d
+2025-07-03 09:48:36,107 - INFO - ✓ 下载资源
+2025-07-03 09:48:36,107 - INFO - ✓ 修改mplib - 移除convex=True
+2025-07-03 09:48:36,107 - INFO - ✓ 修改mplib - 移除 or collide
+2025-07-03 09:54:24,156 - INFO - === 获取conda基础路径 ===
+2025-07-03 09:54:24,156 - INFO - 执行: conda info --base
+2025-07-03 09:54:24,811 - INFO - 命令执行成功: conda info --base
+2025-07-03 09:54:24,811 - INFO - Conda 基础路径: /opt/conda
+2025-07-03 09:54:24,811 - INFO - === 安装Vulkan ===
+2025-07-03 09:54:24,811 - INFO - 执行: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
+2025-07-03 09:54:24,813 - ERROR - 命令执行失败: sudo apt install -y libvulkan1 mesa-vulkan-drivers vulkan-tools
+2025-07-03 09:54:24,813 - INFO - === 检查是否存在RoboTwin环境 ===
+2025-07-03 09:54:24,813 - INFO - 执行: conda env list | grep -w RoboTwin || echo ''
+2025-07-03 09:54:25,462 - INFO - 命令执行成功: conda env list | grep -w RoboTwin || echo ''
+2025-07-03 09:54:25,462 - INFO - === 验证RoboTwin环境 ===
+2025-07-03 09:54:25,463 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail'
+2025-07-03 09:54:27,550 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda list || echo 'fail'
+2025-07-03 09:54:27,550 - INFO - RoboTwin环境验证成功，将直接激活
+2025-07-03 09:54:27,550 - INFO - 开始安装基本依赖包...
+2025-07-03 09:54:27,551 - INFO - === 安装基本依赖 ===
+2025-07-03 09:54:27,551 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0
+2025-07-03 09:54:28,651 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip install torch==2.4.1 torchvision sapien==3.0.0b1 scipy==1.10.1 mplib==0.1.1 gymnasium==0.29.1 trimesh==4.4.3 open3d==0.18.0 imageio==2.34.2 pydantic zarr openai huggingface_hub==0.25.0
+2025-07-03 09:54:28,651 - INFO - 开始安装pytorch3d...
+2025-07-03 09:54:28,651 - INFO - === 安装pytorch3d ===
+2025-07-03 09:54:28,651 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../..
+2025-07-03 09:54:33,465 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && cd third_party/pytorch3d_simplified && pip install -e . && cd ../..
+2025-07-03 09:54:33,465 - INFO - === 检查资源文件是否已存在 ===
+2025-07-03 09:54:33,465 - INFO - 执行: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
+2025-07-03 09:54:33,468 - INFO - 命令执行成功: ls -la aloha_urdf/ main_models/ 2>/dev/null || echo '资源文件不存在'
+2025-07-03 09:54:33,468 - INFO - 开始下载资源文件...
+2025-07-03 09:54:33,468 - INFO - === 下载资源 ===
+2025-07-03 09:54:33,468 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi
+2025-07-03 09:54:40,740 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python ./script/download_asset.py && if [ "$(git rev-parse --abbrev-ref HEAD)" = "main" ]; then unzip -o aloha_urdf.zip && unzip -o main_models.zip; else unzip -o aloha_urdf.zip && unzip -o gpt_models.zip; fi
+2025-07-03 09:54:40,741 - INFO - 开始修改 mplib 库代码...
+2025-07-03 09:54:40,741 - INFO - === 查找mplib位置 ===
+2025-07-03 09:54:40,741 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}'
+2025-07-03 09:54:41,520 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && pip show mplib | grep Location | awk '{print $2}'
+2025-07-03 09:54:41,520 - INFO - mplib planner.py 路径: /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
+2025-07-03 09:54:41,520 - INFO - === 检查mplib代码内容 ===
+2025-07-03 09:54:41,520 - INFO - 执行: cat /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
+2025-07-03 09:54:41,525 - INFO - 命令执行成功: cat /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
+2025-07-03 09:54:41,525 - INFO - 正在移除 convex=True 参数...
+2025-07-03 09:54:41,525 - INFO - === 修改mplib库代码 - 移除convex=True ===
+2025-07-03 09:54:41,525 - INFO - 执行: sed -i 's/convex=True,/# convex=True,/' /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
+2025-07-03 09:54:41,527 - INFO - 命令执行成功: sed -i 's/convex=True,/# convex=True,/' /opt/conda/envs/RoboTwin/lib/python3.8/site-packages/mplib/planner.py
+2025-07-03 09:54:41,527 - INFO - mplib中的'or collide'已经被移除，跳过此步骤
+2025-07-03 09:54:41,527 - INFO - 
+=== 环境配置总结 ===
+2025-07-03 09:54:41,527 - INFO - 总步骤: 7, 成功: 6, 失败: 1
+2025-07-03 09:54:41,527 - INFO - ✗ 安装Vulkan
+2025-07-03 09:54:41,527 - INFO - ✓ 检查conda环境
+2025-07-03 09:54:41,527 - INFO - ✓ 安装基本依赖
+2025-07-03 09:54:41,527 - INFO - ✓ 安装pytorch3d
+2025-07-03 09:54:41,527 - INFO - ✓ 下载资源
+2025-07-03 09:54:41,527 - INFO - ✓ 修改mplib - 移除convex=True
+2025-07-03 09:54:41,527 - INFO - ✓ 修改mplib - 移除 or collide
diff --git a/environment_verify.log b/environment_verify.log
new file mode 100644
index 0000000..d94175f
--- /dev/null
+++ b/environment_verify.log
@@ -0,0 +1,48 @@
+2025-07-03 09:53:52,397 - INFO - === 获取conda基础路径 ===
+2025-07-03 09:53:52,397 - INFO - 执行: conda info --base
+2025-07-03 09:53:53,069 - INFO - 命令执行成功: conda info --base
+2025-07-03 09:53:53,069 - INFO - Conda 基础路径: /opt/conda
+2025-07-03 09:53:53,069 - INFO - === 检查RoboTwin环境是否存在 ===
+2025-07-03 09:53:53,069 - INFO - 执行: conda env list | grep -w RoboTwin || echo ''
+2025-07-03 09:53:53,710 - INFO - 命令执行成功: conda env list | grep -w RoboTwin || echo ''
+2025-07-03 09:53:53,710 - INFO - === 激活RoboTwin环境 ===
+2025-07-03 09:53:53,710 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda info --envs
+2025-07-03 09:53:54,716 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && conda info --envs
+2025-07-03 09:53:54,716 - INFO - === 检查Python版本 ===
+2025-07-03 09:53:54,716 - INFO - 执行: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python --version
+2025-07-03 09:53:55,075 - INFO - 命令执行成功: source /opt/conda/etc/profile.d/conda.sh && conda activate RoboTwin && python --version
+2025-07-03 09:53:55,075 - INFO - === 检查核心依赖包 ===
+2025-07-03 09:53:55,076 - INFO - === 核心依赖包检查完成 (总耗时: 0.00秒) ===
+2025-07-03 09:53:55,076 - INFO - === 检查Vulkan ===
+2025-07-03 09:53:55,076 - INFO - 执行: DISPLAY='' vulkaninfo --summary 2>/dev/null || echo 'Vulkan not installed'
+2025-07-03 09:53:55,079 - INFO - 命令执行成功: DISPLAY='' vulkaninfo --summary 2>/dev/null || echo 'Vulkan not installed'
+2025-07-03 09:53:55,080 - INFO - === 检查aloha_maniskill_sim资源目录 ===
+2025-07-03 09:53:55,080 - INFO - 执行: ls -la /workspace/aloha_maniskill_sim 2>/dev/null || echo 'not found'
+2025-07-03 09:53:55,082 - INFO - 命令执行成功: ls -la /workspace/aloha_maniskill_sim 2>/dev/null || echo 'not found'
+2025-07-03 09:53:55,082 - INFO - === 检查models资源目录 ===
+2025-07-03 09:53:55,082 - INFO - 执行: ls -la /workspace/models 2>/dev/null || echo 'not found'
+2025-07-03 09:53:55,085 - INFO - 命令执行成功: ls -la /workspace/models 2>/dev/null || echo 'not found'
+2025-07-03 09:53:55,085 - INFO - === 检查mplib修改 ===
+2025-07-03 09:53:55,085 - INFO - 
+=== RoboTwin环境验证总结 ===
+2025-07-03 09:53:55,085 - INFO - 总检查项: 20, 成功: 19, 失败: 1
+2025-07-03 09:53:55,085 - INFO - ✓ RoboTwin环境激活: 可以成功激活RoboTwin环境
+2025-07-03 09:53:55,085 - INFO - ✓ Python版本: Python版本 3.8.20 符合要求
+2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 torch: 已安装 torch
+2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 torchvision: 已安装 torchvision
+2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 sapien: 已安装 sapien
+2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 scipy: 已安装 scipy
+2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 mplib: 已安装 mplib
+2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 gymnasium: 已安装 gymnasium
+2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 trimesh: 已安装 trimesh
+2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 open3d: 已安装 open3d
+2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 imageio: 已安装 imageio
+2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 pydantic: 已安装 pydantic
+2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 zarr: 已安装 zarr
+2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 huggingface_hub: 已安装 huggingface_hub
+2025-07-03 09:53:55,085 - INFO - ✓ 依赖包 pytorch3d: 已安装 pytorch3d
+2025-07-03 09:53:55,085 - INFO - ✗ Vulkan: Vulkan 未安装或安装不正确
+2025-07-03 09:53:55,085 - INFO - ✓ 资源目录 aloha_maniskill_sim: aloha_maniskill_sim 目录存在
+2025-07-03 09:53:55,085 - INFO - ✓ 资源目录 models: models 目录存在
+2025-07-03 09:53:55,085 - INFO - ✓ mplib修改 - convex=True: convex=True 参数已经被注释或移除
+2025-07-03 09:53:55,085 - INFO - ✓ mplib修改 - or collide: 'or collide' 条件已被移除
diff --git a/environment_verify_results.json b/environment_verify_results.json
new file mode 100644
index 0000000..98ec5a2
--- /dev/null
+++ b/environment_verify_results.json
@@ -0,0 +1,105 @@
+{
+  "env_check_result": "unhealthy",
+  "check_result_message": [
+    {
+      "component": "RoboTwin环境激活",
+      "status": "成功",
+      "message": "可以成功激活RoboTwin环境"
+    },
+    {
+      "component": "Python版本",
+      "status": "成功",
+      "message": "Python版本 3.8.20 符合要求"
+    },
+    {
+      "component": "依赖包 torch",
+      "status": "成功",
+      "message": "已安装 torch"
+    },
+    {
+      "component": "依赖包 torchvision",
+      "status": "成功",
+      "message": "已安装 torchvision"
+    },
+    {
+      "component": "依赖包 sapien",
+      "status": "成功",
+      "message": "已安装 sapien"
+    },
+    {
+      "component": "依赖包 scipy",
+      "status": "成功",
+      "message": "已安装 scipy"
+    },
+    {
+      "component": "依赖包 mplib",
+      "status": "成功",
+      "message": "已安装 mplib"
+    },
+    {
+      "component": "依赖包 gymnasium",
+      "status": "成功",
+      "message": "已安装 gymnasium"
+    },
+    {
+      "component": "依赖包 trimesh",
+      "status": "成功",
+      "message": "已安装 trimesh"
+    },
+    {
+      "component": "依赖包 open3d",
+      "status": "成功",
+      "message": "已安装 open3d"
+    },
+    {
+      "component": "依赖包 imageio",
+      "status": "成功",
+      "message": "已安装 imageio"
+    },
+    {
+      "component": "依赖包 pydantic",
+      "status": "成功",
+      "message": "已安装 pydantic"
+    },
+    {
+      "component": "依赖包 zarr",
+      "status": "成功",
+      "message": "已安装 zarr"
+    },
+    {
+      "component": "依赖包 huggingface_hub",
+      "status": "成功",
+      "message": "已安装 huggingface_hub"
+    },
+    {
+      "component": "依赖包 pytorch3d",
+      "status": "成功",
+      "message": "已安装 pytorch3d"
+    },
+    {
+      "component": "Vulkan",
+      "status": "失败",
+      "message": "Vulkan 未安装或安装不正确"
+    },
+    {
+      "component": "资源目录 aloha_maniskill_sim",
+      "status": "成功",
+      "message": "aloha_maniskill_sim 目录存在"
+    },
+    {
+      "component": "资源目录 models",
+      "status": "成功",
+      "message": "models 目录存在"
+    },
+    {
+      "component": "mplib修改 - convex=True",
+      "status": "成功",
+      "message": "convex=True 参数已经被注释或移除"
+    },
+    {
+      "component": "mplib修改 - or collide",
+      "status": "成功",
+      "message": "'or collide' 条件已被移除"
+    }
+  ]
+}
\ No newline at end of file
diff --git a/task_config/empty_cup_place.yml b/task_config/empty_cup_place.yml
new file mode 100644
index 0000000..28decdd
--- /dev/null
+++ b/task_config/empty_cup_place.yml
@@ -0,0 +1,26 @@
+task_name: empty_cup_place
+render_freq: 0
+use_seed: false
+collect_data: true
+save_path: ./data
+dual_arm: true
+st_episode: 0
+camera_w: 320
+camera_h: 240
+pcd_crop: true
+pcd_down_sample_num: 1024
+pose_type: gt
+episode_num: 100
+save_type:
+  raw_data: false
+  pkl: true
+data_type:
+  rgb: false
+  observer: false
+  depth: false
+  pointcloud: true
+  conbine: false
+  endpose: true
+  qpos: true
+  mesh_segmentation: false
+  actor_segmentation: false
diff --git a/third_party/pytorch3d_simplified/pytorch3d.egg-info/PKG-INFO b/third_party/pytorch3d_simplified/pytorch3d.egg-info/PKG-INFO
index 038a1f2..dd3d9ab 100644
--- a/third_party/pytorch3d_simplified/pytorch3d.egg-info/PKG-INFO
+++ b/third_party/pytorch3d_simplified/pytorch3d.egg-info/PKG-INFO
@@ -1,4 +1,4 @@
-Metadata-Version: 2.1
+Metadata-Version: 2.2
 Name: pytorch3d
 Version: 0.7.6
 Summary: PyTorch3D is FAIR's library of reusable components for deep Learning with 3D data.
@@ -14,3 +14,8 @@ Requires-Dist: ipywidgets; extra == "all"
 Provides-Extra: dev
 Requires-Dist: flake8; extra == "dev"
 Requires-Dist: usort; extra == "dev"
+Dynamic: author
+Dynamic: home-page
+Dynamic: provides-extra
+Dynamic: requires-dist
+Dynamic: summary
diff --git a/third_party/pytorch3d_simplified/pytorch3d/_C.cpython-310-x86_64-linux-gnu.so b/third_party/pytorch3d_simplified/pytorch3d/_C.cpython-310-x86_64-linux-gnu.so
new file mode 100755
index 0000000..a061917
Binary files /dev/null and b/third_party/pytorch3d_simplified/pytorch3d/_C.cpython-310-x86_64-linux-gnu.so differ
diff --git a/third_party/pytorch3d_simplified/pytorch3d/_C.cpython-38-x86_64-linux-gnu.so b/third_party/pytorch3d_simplified/pytorch3d/_C.cpython-38-x86_64-linux-gnu.so
index 2035485..bb6f6de 100755
Binary files a/third_party/pytorch3d_simplified/pytorch3d/_C.cpython-38-x86_64-linux-gnu.so and b/third_party/pytorch3d_simplified/pytorch3d/_C.cpython-38-x86_64-linux-gnu.so differ