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[fix] state transition
when STOP = True, START should be False
main
silencht
5 months ago
committed by
GitHub
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GPG Key ID: B5690EEEBB952194
1 changed files with
3 additions and
0 deletions
-
teleop/teleop_hand_and_arm.py
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@ -48,6 +48,7 @@ def on_press(key): |
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if key == 'r': |
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START = True |
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elif key == 'q': |
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START = False |
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STOP = True |
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elif key == 's' and START == True: |
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RECORD_TOGGLE = True |
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@ -268,6 +269,7 @@ if __name__ == '__main__': |
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# opencv GUI communication |
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key = cv2.waitKey(1) & 0xFF |
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if key == ord('q'): |
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START = False |
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STOP = True |
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if args.sim: |
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publish_reset_category(2, reset_pose_publisher) |
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@ -313,6 +315,7 @@ if __name__ == '__main__': |
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if args.xr_mode == "controller" and args.motion: |
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# quit teleoperate |
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if tele_data.tele_state.right_aButton: |
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START = False |
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STOP = True |
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# command robot to enter damping mode. soft emergency stop function |
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if tele_data.tele_state.left_thumbstick_state and tele_data.tele_state.right_thumbstick_state: |
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