Route R3 controller buttons to teleop commands

Map physical R3 buttons (A/B/X/Y/Start) to teleop actions so the
operator can control tracking, arm reset, I-term toggle, and recording
without needing a separate SSH keyboard session.

- Store wireless_remote bytes from rt/lowstate in G1_29_LowState
- Add get_wireless_remote() accessor to arm controller
- Parse button bitmasks with edge detection (fire on 0→1 only)
- A=start, B=stop, X=reset arms, Y=toggle I-term, Start=toggle recording
- Buttons work in both pre-tracking wait loop and main control loop
- Keyboard shortcuts (r/q/h/i/s) still work alongside R3 buttons

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

teleop/robot_control/robot_arm.py

@@ -32,6 +32,7 @@ class MotorState:
 class G1_29_LowState:
     def __init__(self):
         self.motor_state = [MotorState() for _ in range(G1_29_Num_Motors)]
+        self.wireless_remote = bytes(40)
 
 class G1_23_LowState:
     def __init__(self):
@@ -146,6 +147,7 @@ class G1_29_ArmController:
                 for id in range(G1_29_Num_Motors):
                     lowstate.motor_state[id].q  = msg.motor_state[id].q
                     lowstate.motor_state[id].dq = msg.motor_state[id].dq
+                lowstate.wireless_remote = bytes(msg.wireless_remote)
                 self.lowstate_buffer.SetData(lowstate)
             time.sleep(0.002)
 
@@ -212,7 +214,14 @@ class G1_29_ArmController:
     def get_current_dual_arm_dq(self):
         '''Return current state dq of the left and right arm motors.'''
         return np.array([self.lowstate_buffer.GetData().motor_state[id].dq for id in G1_29_JointArmIndex])
-    
+
+    def get_wireless_remote(self):
+        '''Return raw wireless_remote bytes (40 bytes) from latest lowstate.'''
+        data = self.lowstate_buffer.GetData()
+        if data is not None:
+            return data.wireless_remote
+        return bytes(40)
+
     def ctrl_dual_arm_go_home(self):
         '''Move both the left and right arms of the robot to their home position by setting the target joint angles (q) and torques (tau) to zero.'''
         logger_mp.info("[G1_29_ArmController] ctrl_dual_arm_go_home start...")

teleop/teleop_hand_and_arm.py

@@ -1,5 +1,6 @@
 import time
 import argparse
+import struct
 import numpy as np
 from multiprocessing import Value, Array, Lock
 import threading
@@ -51,6 +52,23 @@ RESET_ARMS       = False  # Trigger arm reset via 'h' key
 #  ==> manual: when READY is True, set RECORD_TOGGLE=True to transition.
 #  --> auto  : Auto-transition after saving data.
 
+def parse_r3_buttons(data):
+    """Parse R3 controller button bytes from wireless_remote. Returns dict of button states."""
+    if len(data) < 4:
+        return {}
+    btn1 = data[2]  # R1=0x01, L1=0x02, Start=0x04, Select=0x08, R2=0x10, L2=0x20
+    btn2 = data[3]  # A=0x01, B=0x02, X=0x04, Y=0x08, Up=0x10, Right=0x20, Down=0x40, Left=0x80
+    return {
+        'A': bool(btn2 & 0x01),
+        'B': bool(btn2 & 0x02),
+        'X': bool(btn2 & 0x04),
+        'Y': bool(btn2 & 0x08),
+        'Start': bool(btn1 & 0x04),
+    }
+
+# Previous button state for edge detection
+_r3_prev_buttons = {}
+
 def on_press(key):
     global STOP, START, RECORD_TOGGLE, INTEGRAL_ENABLED, RESET_ARMS
     if key == 'r':
@@ -253,21 +271,28 @@ if __name__ == '__main__':
                                      rerun_log = not args.headless)
 
         logger_mp.info("----------------------------------------------------------------")
-        logger_mp.info("🟢  Press [r] to start syncing the robot with your movements.")
+        logger_mp.info("  Keyboard  |  R3 Controller  |  Action")
+        logger_mp.info("  ---------   ---------------    ------")
+        logger_mp.info("    [r]     |     [A]         |  Start arm tracking")
+        logger_mp.info("    [q]     |     [B]         |  Stop and exit")
+        logger_mp.info("    [h]     |     [X]         |  Reset arms to home")
+        logger_mp.info("    [i]     |     [Y]         |  Toggle I-term correction")
         if args.record:
-            logger_mp.info("🟡  Press [s] to START or SAVE recording (toggle cycle).")
-        else:
-            logger_mp.info("🔵  Recording is DISABLED (run with --record to enable).")
-        logger_mp.info("🏠  Press [h] to reset arms to home position (without exiting).")
+            logger_mp.info("    [s]     |    [Start]      |  Toggle recording")
         if args.ki > 0.0:
-            logger_mp.info(f"🔧  Press [i] to toggle integral drift correction (Ki={args.ki}, clamp={args.i_clamp}m, decay={args.i_decay})")
-        else:
-            logger_mp.info("⚪  Integral correction DISABLED (--ki=0.0)")
-        logger_mp.info("🔴  Press [q] to stop and exit the program.")
+            logger_mp.info(f"  I-term: Ki={args.ki}, clamp={args.i_clamp}m, decay={args.i_decay}")
+        logger_mp.info("----------------------------------------------------------------")
         logger_mp.info("⚠️  IMPORTANT: Please keep your distance and stay safe.")
         READY = True                  # now ready to (1) enter START state
         while not START and not STOP: # wait for start or stop signal.
             time.sleep(0.033)
+            # Poll R3 A button in wait loop (edge-detected)
+            r3_data = arm_ctrl.get_wireless_remote()
+            r3_btns = parse_r3_buttons(r3_data)
+            if r3_btns.get('A') and not _r3_prev_buttons.get('A'):
+                START = True
+                logger_mp.info("[R3] A pressed → START tracking")
+            _r3_prev_buttons = r3_btns
             if camera_config['head_camera']['enable_zmq'] and xr_need_local_img:
                 head_img = img_client.get_head_frame()
                 tv_wrapper.render_to_xr(head_img)
@@ -302,6 +327,28 @@ if __name__ == '__main__':
                 last_loop_time = time.time()
                 continue
 
+            # Poll R3 controller buttons (edge-detected)
+            r3_data = arm_ctrl.get_wireless_remote()
+            r3_btns = parse_r3_buttons(r3_data)
+            if r3_btns.get('A') and not _r3_prev_buttons.get('A'):
+                if not START:
+                    START = True
+                    logger_mp.info("[R3] A pressed → START tracking")
+            if r3_btns.get('B') and not _r3_prev_buttons.get('B'):
+                START = False
+                STOP = True
+                logger_mp.info("[R3] B pressed → STOP")
+            if r3_btns.get('X') and not _r3_prev_buttons.get('X') and START:
+                RESET_ARMS = True
+                logger_mp.info("[R3] X pressed → Reset arms")
+            if r3_btns.get('Y') and not _r3_prev_buttons.get('Y'):
+                INTEGRAL_ENABLED = not INTEGRAL_ENABLED
+                logger_mp.info(f"[R3] Y pressed → Integral {'ENABLED' if INTEGRAL_ENABLED else 'DISABLED'}")
+            if r3_btns.get('Start') and not _r3_prev_buttons.get('Start') and START:
+                RECORD_TOGGLE = True
+                logger_mp.info("[R3] Start pressed → Toggle recording")
+            _r3_prev_buttons = r3_btns
+
             # get image
             if camera_config['head_camera']['enable_zmq']:
                 if args.record or xr_need_local_img: