多view

scripts/environments/teleoperation/teleop_se3_agent.py

@@ -92,6 +92,45 @@ if args_cli.enable_pinocchio:
     import isaaclab_tasks.manager_based.locomanipulation.pick_place  # noqa: F401
     import isaaclab_tasks.manager_based.manipulation.pick_place  # noqa: F401
 
+
+# =====================================================================
+# Robot Camera Viewport Utilities  (pure GUI — no --enable_cameras needed)
+# =====================================================================
+
+# Resolved prim paths for env_0.
+# These match the camera prims embedded in mindrobot_cd2.usd.
+# Run with the diagnostic block once to confirm exact paths.
+_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",
+    "Chest":      "/World/envs/env_0/Robot/robot_trunk/cam_chest",
+}
+
+_robot_viewports: dict[str, object] = {}
+
+
+def create_robot_viewports() -> None:
+    """Create 4 viewport windows bound to robot camera prims (GUI only)."""
+    try:
+        import omni.kit.viewport.utility as vp_util
+    except ImportError:
+        logger.warning("[Viewport] omni.kit.viewport.utility not available.")
+        return
+    for name, cam_path in _ROBOT_CAM_PRIMS.items():
+        vp_win = vp_util.create_viewport_window(
+            f"Robot {name} View", width=640, height=360
+        )
+        vp_win.viewport_api.camera_path = cam_path
+        _robot_viewports[name] = vp_win
+        print(f"[INFO] Viewport 'Robot {name} View' → {cam_path}")
+
+
+def rebind_robot_viewports() -> None:
+    """Re-bind viewports to camera paths after env reset."""
+    for name, vp_win in _robot_viewports.items():
+        vp_win.viewport_api.camera_path = _ROBOT_CAM_PRIMS[name]
+
 # import logger
 logger = logging.getLogger(__name__)
 
@@ -274,6 +313,23 @@ def main() -> None:
     env.reset()
     teleop_interface.reset()
 
+    # -- Diagnostic: print all Camera prims in the stage --
+    try:
+        import omni.usd
+        from pxr import UsdGeom
+        stage = omni.usd.get_context().get_stage()
+        print("\n[DIAG] All Camera prims in stage:")
+        for prim in stage.Traverse():
+            if UsdGeom.Camera(prim):
+                print(f"  {prim.GetPath()}")
+        print("[DIAG] Done.\n")
+    except Exception as _diag_e:
+        print(f"[DIAG] Could not traverse stage: {_diag_e}")
+    # -- End diagnostic --
+
+    # Create viewport windows bound to robot cameras (no --enable_cameras needed)
+    create_robot_viewports()
+
     print("Teleoperation started. Press 'R' to reset the environment.")
 
     # simulate environment
@@ -296,6 +352,7 @@ def main() -> None:
                 if should_reset_recording_instance:
                     env.reset()
                     teleop_interface.reset()
+                    rebind_robot_viewports()
                     should_reset_recording_instance = False
                     print("Environment reset complete")
         except Exception as e: