From c346a63734e855f0bad7c5e9a53a9ad0004f99d1 Mon Sep 17 00:00:00 2001
From: "wei.li" <rd_liwei@unitree.com>
Date: Fri, 4 Jul 2025 09:55:06 +0800
Subject: [PATCH] add 'default=gripper' and update tpoic

---
 teleop/teleop_hand_and_arm.py    |  8 +++---
 teleop/utils/server_api.py       |  8 ------
 teleop/utils/sim_state_client.py | 48 --------------------------------
 3 files changed, 4 insertions(+), 60 deletions(-)
 delete mode 100644 teleop/utils/server_api.py
 delete mode 100644 teleop/utils/sim_state_client.py

diff --git a/teleop/teleop_hand_and_arm.py b/teleop/teleop_hand_and_arm.py
index 5a2c25b..1f827b2 100644
--- a/teleop/teleop_hand_and_arm.py
+++ b/teleop/teleop_hand_and_arm.py
@@ -58,7 +58,7 @@ if __name__ == '__main__':
 
     parser.add_argument('--xr-mode', type=str, choices=['hand', 'controller'], default='hand', help='Select XR device tracking source')
     parser.add_argument('--arm', type=str, choices=['G1_29', 'G1_23', 'H1_2', 'H1'], default='G1_29', help='Select arm controller')
-    parser.add_argument('--ee', type=str, choices=['dex3', 'gripper', 'inspire1'], help='Select end effector controller')
+    parser.add_argument('--ee', type=str, choices=['dex3', 'gripper', 'inspire1'],default="gripper", help='Select end effector controller')
 
     parser.add_argument('--record', action = 'store_true', help = 'Enable data recording')
     parser.add_argument('--motion', action = 'store_true', help = 'Enable motion control mode')
@@ -201,12 +201,12 @@ if __name__ == '__main__':
                 tv_resized_image = cv2.resize(tv_img_array, (tv_img_shape[1] // 2, tv_img_shape[0] // 2))
                 cv2.imshow("record image", tv_resized_image)
                 key = cv2.waitKey(1) & 0xFF
-                if key == ord('s'):
+                if key == ord('q'):
                     stop_listening()
                     running = False
                     if args.sim:
                         publish_reset_category(2, reset_pose_publisher)
-                elif key == ord('q'):
+                elif key == ord('s'):
                     should_toggle_recording = True
                 elif key == ord('a'):
                     if args.sim:
@@ -386,7 +386,7 @@ if __name__ == '__main__':
                             "qpos": current_body_action,
                         }, 
                     }
-                    if args.is_use_sim:
+                    if args.sim:
                         sim_state = sim_state_subscriber.read_data()            
                         recorder.add_item(colors=colors, depths=depths, states=states, actions=actions, sim_state=sim_state)
                     else:
diff --git a/teleop/utils/server_api.py b/teleop/utils/server_api.py
deleted file mode 100644
index 98bfb4b..0000000
--- a/teleop/utils/server_api.py
+++ /dev/null
@@ -1,8 +0,0 @@
-# service name
-SERVICE_NAME = "get_sim_state"
-
-# api version
-API_VERSION = "1.0.0.1"
-
-# api id
-API_ID_GET_SIM_STATE = 1008
\ No newline at end of file
diff --git a/teleop/utils/sim_state_client.py b/teleop/utils/sim_state_client.py
deleted file mode 100644
index 972824b..0000000
--- a/teleop/utils/sim_state_client.py
+++ /dev/null
@@ -1,48 +0,0 @@
-import time 
-import json
-from unitree_sdk2py.core.channel import ChannelFactoryInitialize
-from unitree_sdk2py.rpc.client import Client
-from utils.server_api import SERVICE_NAME, API_VERSION, API_ID_GET_SIM_STATE
-
-
-class SimStateClient(Client):
-    def __init__(self, enableLease: bool = False):
-        super().__init__(SERVICE_NAME, enableLease)
-
-    def Init(self):
-        self._RegistApi(API_ID_GET_SIM_STATE, 0)
-        self._SetApiVerson(API_VERSION)
-
-    def GetSimState_client_call(self):
-        c, d = self._Call(API_ID_GET_SIM_STATE, json.dumps(""))
-        return c, d
-
-
-
-if __name__ ==  "__main__":
-    # initialize channel factory.
-    ChannelFactoryInitialize(0)
-
-    # create client
-    client = SimStateClient()
-    client.Init()
-    client.SetTimeout(5.0)
-
-    # get server version
-    code, serverApiVersion = client.GetServerApiVersion()
-    print("server api version:", serverApiVersion)
-
-    # wait lease applied
-    client.WaitLeaseApplied()
-    print("lease applied")
-    # test api
-    while True:
-        try:
-            c, d = client.GetSimState_client_call()
-            print("client get sim state ret:", c)
-            print("sim state data:", d)
-        except Exception as e:
-            print("Error getting sim state:", e)
-        time.sleep(1.0)
-
-