From 4e0add4e1da88e891d2a510cd7d8f61a33fae892 Mon Sep 17 00:00:00 2001
From: gouhanke <12219217+gouhanke@user.noreply.gitee.com>
Date: Thu, 26 Feb 2026 16:17:54 +0800
Subject: [PATCH] =?UTF-8?q?debug:=20=E4=BF=AE=E5=A4=8Depisode=E9=A6=96?=
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---
 roboimi/demos/diana_record_sim_episodes.py | 6 ++++++
 roboimi/envs/double_base.py                | 3 ++-
 roboimi/envs/double_pos_ctrl_env.py        | 4 ++++
 3 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/roboimi/demos/diana_record_sim_episodes.py b/roboimi/demos/diana_record_sim_episodes.py
index 63a46bd..7cb68c1 100644
--- a/roboimi/demos/diana_record_sim_episodes.py
+++ b/roboimi/demos/diana_record_sim_episodes.py
@@ -32,6 +32,12 @@ def main():
     
     env = make_sim_env(task_name)
     policy = TestPickAndTransferPolicy(inject_noise)
+
+    # 等待osmesa完全启动后再开始收集数据
+    print("等待osmesa线程启动...")
+    time.sleep(60)
+    print("osmesa已就绪，开始收集数据...")
+
     for episode_idx in range(num_episodes):
         obs = []
         reward_ee = []
diff --git a/roboimi/envs/double_base.py b/roboimi/envs/double_base.py
index 55b1067..d84de3d 100644
--- a/roboimi/envs/double_base.py
+++ b/roboimi/envs/double_base.py
@@ -230,7 +230,8 @@ class DualDianaMed(MujocoEnv):
             img_renderer.update_scene(self.mj_data,camera="front")
             self.front = img_renderer.render()
             self.front = self.front[:, :, ::-1]
-            cv2.imshow('Cam view', self.cam_view)
+            if self.cam_view is not None:
+                cv2.imshow('Cam view', self.cam_view)
             cv2.waitKey(1)
 
 
diff --git a/roboimi/envs/double_pos_ctrl_env.py b/roboimi/envs/double_pos_ctrl_env.py
index 878bd08..2189b44 100644
--- a/roboimi/envs/double_pos_ctrl_env.py
+++ b/roboimi/envs/double_pos_ctrl_env.py
@@ -72,6 +72,10 @@ class DualDianaMed_Pos_Ctrl(DualDianaMed):
         self.mj_data.joint('red_box_joint').qpos[5] = 0.0
         self.mj_data.joint('red_box_joint').qpos[6] = 0.0
         super().reset()
+        self.top = None
+        self.angle = None
+        self.r_vis = None
+        self.front = None
         self.cam_flage = True
         t=0
         while self.cam_flage: