From 8bece56d932ebf91982a9a1866fe0c15fb7fb40d Mon Sep 17 00:00:00 2001
From: silencht <silencht@qq.com>
Date: Thu, 28 Aug 2025 19:53:33 +0800
Subject: [PATCH] [fix] complete sshkeyboard stop listenning bug.

---
 teleop/teleop_hand_and_arm.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/teleop/teleop_hand_and_arm.py b/teleop/teleop_hand_and_arm.py
index 888f6bf..76083a6 100644
--- a/teleop/teleop_hand_and_arm.py
+++ b/teleop/teleop_hand_and_arm.py
@@ -213,6 +213,7 @@ if __name__ == '__main__':
                 cv2.imshow("record image", tv_resized_image)
                 key = cv2.waitKey(1) & 0xFF
                 if key == ord('q'):
+                    stop_listening()
                     running = False
                     if args.sim:
                         publish_reset_category(2, reset_pose_publisher)
@@ -258,8 +259,8 @@ if __name__ == '__main__':
             if args.xr_mode == "controller" and args.motion:
                 # quit teleoperate
                 if tele_data.tele_state.right_aButton:
-                    running = False
                     stop_listening()
+                    running = False
                 # command robot to enter damping mode. soft emergency stop function
                 if tele_data.tele_state.left_thumbstick_state and tele_data.tele_state.right_thumbstick_state:
                     sport_client.Damp()