主界面一屏要同时看臂、夹爪、相机和触觉，按钮再被拉高就会叠到画面上。相机按原分辨率走回调取最新帧，场景一动不再等红外齐帧把彩色丢掉。模型和相机都留在工位窗口里，启动默认不再弹 RViz。

验收：test_listed_arms 与 test_camera_preview 共 20 项通过。D435 1280×720 发布约 29 帧/秒。

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

scripts/env.sh

@@ -11,23 +11,24 @@ elif [[ -f /opt/ros/jazzy/setup.bash ]]; then
   source /opt/ros/jazzy/setup.bash
 fi
 
-if [[ -f "${HOME}/anaconda3/etc/profile.d/conda.sh" ]]; then
-  # shellcheck disable=SC1091
-  source "${HOME}/anaconda3/etc/profile.d/conda.sh"
+# conda 可能在 ~/anaconda3 或 ~/miniconda3。不写死用户名。
+# shellcheck disable=SC1091
+source "${ROOT}/scripts/lib/dev_tools.sh"
+dev_source_conda || true
+if command -v conda >/dev/null 2>&1; then
   # 干净切换：先把堆叠的激活退到 base，再激活真机环境。
-  # 同一 shell 里从仿真环境(ros_gz_sim)切过来时，不清干净会残留 PATH/PYTHONPATH，
-  # 导致 python/pip 解析到另一个环境的包，构建报 "--editable not recognized"
-  # 之类与真实原因无关的错。详见 scripts/lib/conda_switch.sh。
+  # 同一 shell 里从仿真环境切过来时，不清干净会残留 PATH/PYTHONPATH。
   _env_helper="${ROOT}/scripts/lib/conda_switch.sh"
+  _real_env="${REAL_ENV_NAME:-ros_flexiv}"
   if [[ -f "${_env_helper}" ]]; then
     # shellcheck disable=SC1090
     source "${_env_helper}"
-    conda_switch_clean "ros_flexiv" "${SIM_ENV_NAME:-ros_gz_sim}" || \
-      conda activate ros_flexiv 2>/dev/null || true
+    conda_switch_clean "${_real_env}" "${SIM_ENV_NAME:-ros_gz_sim}" || \
+      conda activate "${_real_env}" 2>/dev/null || true
   else
-    conda activate ros_flexiv 2>/dev/null || true
+    conda activate "${_real_env}" 2>/dev/null || true
   fi
-  unset _env_helper
+  unset _env_helper _real_env
 fi
 
 if [[ -f "${ROOT}/install/setup.bash" ]]; then
@@ -38,13 +39,14 @@ else
 fi
 export LD_LIBRARY_PATH="${HOME}/flexiv_install/lib:${LD_LIBRARY_PATH:-}"
 # pip 版 TensorRT（tensorrt-cu12）—— 加载 YOLO `.engine` 需要它
-_TRT_SITE="${CONDA_PREFIX:-${HOME}/anaconda3/envs/ros_flexiv}/lib/python3.11/site-packages"
+_pyver="$(python3 -c 'import sys; print(f"{sys.version_info[0]}.{sys.version_info[1]}")' 2>/dev/null || echo 3.11)"
+_TRT_SITE="${CONDA_PREFIX:-${HOME}/anaconda3/envs/${REAL_ENV_NAME:-ros_flexiv}}/lib/python${_pyver}/site-packages"
 for _d in "${_TRT_SITE}/tensorrt" "${_TRT_SITE}/tensorrt_libs" "${_TRT_SITE}/nvidia/tensorrt/lib"; do
   if [[ -d "${_d}" ]]; then
     export LD_LIBRARY_PATH="${_d}:${LD_LIBRARY_PATH}"
   fi
 done
-unset _d _TRT_SITE
+unset _d _TRT_SITE _pyver
 export YOLO_AUTOINSTALL=false
 export ROS2_WS="${ROOT}"