debug: 修复episode首帧图像不正确的问题；修复前2个episode帧重复的问题

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 = []

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)
 
 

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: