主界面要直接下发夹爪并看仿真，再开夹爪页会把相机和触觉挡住。开口、力度和旋转收到左栏，壳体、抱闸、手指改成对比色，黑指在深色底上会看不见。臂清单从 site.yaml 读，界面不再写死哪一台。

Co-authored-by: Cursor <cursoragent@cursor.com>

scripts/run_console.sh

@@ -8,10 +8,45 @@ ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
 # shellcheck disable=SC1091
 source "${ROOT}/scripts/env.sh"
 export PYTHONPATH="${ROOT}/src/arm_application${PYTHONPATH:+:${PYTHONPATH}}"
-if [[ -z "${DISPLAY:-}" && -S /tmp/.X11-unix/X1 ]]; then
-  export DISPLAY=:1
+# 屏幕跟当前登录会话走。这台工控机是 :1，别的 Linux 桌面常常是 :0。
+if [[ -n "${DISPLAY:-}" ]]; then
+  _disp="${DISPLAY#:}"
+  _disp="${_disp%%.*}"
+  if [[ ! -S "/tmp/.X11-unix/X${_disp}" ]]; then
+    unset DISPLAY
+  fi
+  unset _disp
 fi
-if [[ -z "${XAUTHORITY:-}" && -r "/run/user/$(id -u)/gdm/Xauthority" ]]; then
-  export XAUTHORITY="/run/user/$(id -u)/gdm/Xauthority"
+if [[ -z "${DISPLAY:-}" ]]; then
+  _seat="$(who | awk -v u="$(id -un)" '$1==u && $2 ~ /^:/ {print $2; exit}')"
+  _seat="${_seat%%.*}"
+  _n="${_seat#:}"
+  if [[ -n "${_n}" && -S "/tmp/.X11-unix/X${_n}" ]]; then
+    export DISPLAY="${_seat}"
+  else
+    for _sock in /tmp/.X11-unix/X*; do
+      if [[ -S "${_sock}" ]]; then
+        export DISPLAY=":${_sock##*/X}"
+        break
+      fi
+    done
+  fi
+  unset _seat _n _sock
+fi
+# 有真实屏幕时不要留在 offscreen，否则 OpenGL 窗口起不来，模型也不会画到显卡上。
+if [[ "${QT_QPA_PLATFORM:-}" == "offscreen" && -n "${DISPLAY:-}" ]]; then
+  _disp="${DISPLAY#:}"
+  _disp="${_disp%%.*}"
+  if [[ -S "/tmp/.X11-unix/X${_disp}" ]]; then
+    unset QT_QPA_PLATFORM
+  fi
+  unset _disp
+fi
+if [[ -z "${XAUTHORITY:-}" ]]; then
+  if [[ -r "${HOME}/.Xauthority" ]]; then
+    export XAUTHORITY="${HOME}/.Xauthority"
+  elif [[ -r "/run/user/$(id -u)/gdm/Xauthority" ]]; then
+    export XAUTHORITY="/run/user/$(id -u)/gdm/Xauthority"
+  fi
 fi
 exec python3 -m arm_application.operator_app