[fix] log

teleop/image_server/image_client.py

@@ -131,7 +131,7 @@ class ImageClient:
         self._socket.connect(f"tcp://{self._server_address}:{self._port}")
         self._socket.setsockopt_string(zmq.SUBSCRIBE, "")
 
-        logger_mp.info("\nImage client has started, waiting to receive data...")
+        logger_mp.info("Image client has started, waiting to receive data...")
         try:
             while self.running:
                 # Receive message

teleop/robot_control/robot_arm.py

@@ -99,6 +99,7 @@ class G1_29_ArmController:
         while not self.lowstate_buffer.GetData():
             time.sleep(0.01)
             logger_mp.warning("[G1_29_ArmController] Waiting to subscribe dds...")
+        logger_mp.info("[G1_29_ArmController] Subscribe dds ok.")
 
         # initialize hg's lowcmd msg
         self.crc = CRC()
@@ -370,6 +371,7 @@ class G1_23_ArmController:
         while not self.lowstate_buffer.GetData():
             time.sleep(0.01)
             logger_mp.warning("[G1_23_ArmController] Waiting to subscribe dds...")
+        logger_mp.info("[G1_23_ArmController] Subscribe dds ok.")
 
         # initialize hg's lowcmd msg
         self.crc = CRC()
@@ -626,6 +628,7 @@ class H1_2_ArmController:
         while not self.lowstate_buffer.GetData():
             time.sleep(0.01)
             logger_mp.warning("[H1_2_ArmController] Waiting to subscribe dds...")
+        logger_mp.info("[H1_2_ArmController] Subscribe dds ok.")
 
         # initialize hg's lowcmd msg
         self.crc = CRC()
@@ -887,6 +890,7 @@ class H1_ArmController:
         while not self.lowstate_buffer.GetData():
             time.sleep(0.01)
             logger_mp.warning("[H1_ArmController] Waiting to subscribe dds...")
+        logger_mp.info("[H1_ArmController] Subscribe dds ok.")
 
         # initialize h1's lowcmd msg
         self.crc = CRC()

teleop/robot_control/robot_hand_inspire.py

@@ -51,6 +51,7 @@ class Inspire_Controller:
                 break
             time.sleep(0.01)
             logger_mp.warning("[Inspire_Controller] Waiting to subscribe dds...")
+        logger_mp.info("[Inspire_Controller] Subscribe dds ok.")
 
         hand_control_process = Process(target=self.control_process, args=(left_hand_array, right_hand_array,  self.left_hand_state_array, self.right_hand_state_array,
                                                                           dual_hand_data_lock, dual_hand_state_array, dual_hand_action_array))

teleop/robot_control/robot_hand_unitree.py

@@ -87,6 +87,7 @@ class Dex3_1_Controller:
                 break
             time.sleep(0.01)
             logger_mp.warning("[Dex3_1_Controller] Waiting to subscribe dds...")
+        logger_mp.info("[Dex3_1_Controller] Subscribe dds ok.")
 
         hand_control_process = Process(target=self.control_process, args=(left_hand_array_in, right_hand_array_in,  self.left_hand_state_array, self.right_hand_state_array,
                                                                           dual_hand_data_lock, dual_hand_state_array_out, dual_hand_action_array_out))
@@ -285,6 +286,7 @@ class Gripper_Controller:
                 break
             time.sleep(0.01)
             logger_mp.warning("[Gripper_Controller] Waiting to subscribe dds...")
+        logger_mp.info("[Gripper_Controller] Subscribe dds ok.")
 
         self.gripper_control_thread = threading.Thread(target=self.control_thread, args=(left_gripper_value_in, right_gripper_value_in, self.dual_gripper_state,
                                                                                          dual_gripper_data_lock, dual_gripper_state_out, dual_gripper_action_out))

teleop/teleop_hand_and_arm.py

@@ -24,11 +24,15 @@ from teleop.utils.episode_writer import EpisodeWriter
 from sshkeyboard import listen_keyboard
 
 
+start_signal = False
 running = True
 recording = False
 def on_press(key):
-    global running, recording
-    if key == 'q':
+    global running, recording, start_signal
+    if key == 'r':
+        start_signal = True
+        logger_mp.info("[Key] start signal received.")
+    elif key == 'q':
         running = False
     elif key == 's':
         recording = not recording
@@ -100,7 +104,6 @@ if __name__ == '__main__':
     if args.arm == 'G1_29':
         arm_ctrl = G1_29_ArmController(debug_mode=args.debug)
         arm_ik = G1_29_ArmIK()
-        pass
     elif args.arm == 'G1_23':
         arm_ctrl = G1_23_ArmController()
         arm_ik = G1_23_ArmIK()
@@ -149,8 +152,10 @@ if __name__ == '__main__':
         recorder = EpisodeWriter(task_dir = args.task_dir, frequency = args.frequency, rerun_log = True)
         
     try:
-        user_input = input("Please enter the start signal (enter 'r' to start the subsequent program):\n")
-        if user_input.lower() == 'r':
+        logger_mp.info("Please enter the start signal (enter 'r' to start the subsequent program)")
+        while not start_signal:
+            time.sleep(0.01)
+        logger_mp.info("Program start.")
         arm_ctrl.speed_gradual_max()
         while running:
             start_time = time.time()