Add multiple camera example with collect_human_demonstrations in robosuite

Author: Yu Fang

docs/algorithms/demonstrations.md

@@ -7,6 +7,8 @@ We provide teleoperation utilities that allow users to control the robots with i
 - `directory:` path to a folder for where to store the pickle file of collected demonstrations
 - `environment:` name of the environment you would like to collect the demonstrations for
 - `device:` either "keyboard" or "spacemouse" or "dualsense" or "mjgui"
+- `renderer:` Mujoco's builtin interactive viewer (mjviewer) or OpenCV viewer (mujoco)
+- `camera:` Pass multiple camera names to enable multiple views. Note that the "mujoco" renderer must be enabled when using multiple views, while "mjviewer" is not supported.
 
 See the [devices page](https://robosuite.ai/docs/modules/devices.html) for details on how to use the devices.
 

robosuite/scripts/collect_human_demonstrations.py

@@ -237,9 +237,10 @@ def gather_demonstrations_as_hdf5(directory, out_dir, env_info):
     )
     parser.add_argument(
         "--camera",
+        nargs="*",
         type=str,
         default="agentview",
-        help="Which camera to use for collecting demos",
+        help="List of camera names to use for collecting demos. Pass multiple names to enable multiple views. Note: the `mujoco` renderer must be enabled when using multiple views; `mjviewer` is not supported."
     )
     parser.add_argument(
         "--controller",