Scientific research training is an effective way to cultivate undergraduates' scientific research innovation ability, and the participation in community of scientific research practice is the main form of scientific research training. Guided by Situational Learning Theory, 665 undergraduates of science and engineering from three research universities were investigated. The results show that students who have participated in the community of scientific research practice have a higher level of scientific research ability than students who have not participated. After controlling variables such as gender, grade, major and academic achievement, participating in community of scientific research practice can positively affect the scientific research ability of undergraduates of science and engineering, among which the dimensions of team resources, team climate and team guidance can positively affect the scientific research ability of undergraduates of science and engineering. Self-efficacy plays a mediating role between community of scientific research practice and scientific research ability . These results have theoretical and practical significance on research universities' construction of a scientific and perfect community of scientific research practice and its cultivation as well as cultivate top-notch innovative talents.