[fix] minor issue for sim.

teleop/robot_control/robot_arm.py

@@ -12,7 +12,7 @@ from unitree_sdk2py.idl.unitree_go.msg.dds_ import ( LowCmd_  as go_LowCmd, LowS
 from unitree_sdk2py.idl.default import unitree_go_msg_dds__LowCmd_
 
 import logging_mp
-logger_mp = logging_mp.get_logger(__name__,level=logging_mp.DEBUG)
+logger_mp = logging_mp.get_logger(__name__)
 
 kTopicLowCommand_Debug  = "rt/lowcmd"
 kTopicLowCommand_Motion = "rt/arm_sdk"

teleop/teleop_hand_and_arm.py

@@ -109,14 +109,20 @@ if __name__ == '__main__':
     tv_img_shm = shared_memory.SharedMemory(create = True, size = np.prod(tv_img_shape) * np.uint8().itemsize)
     tv_img_array = np.ndarray(tv_img_shape, dtype = np.uint8, buffer = tv_img_shm.buf)
 
-    if WRIST:
+    if WRIST and args.sim:
         wrist_img_shape = (img_config['wrist_camera_image_shape'][0], img_config['wrist_camera_image_shape'][1] * 2, 3)
         wrist_img_shm = shared_memory.SharedMemory(create = True, size = np.prod(wrist_img_shape) * np.uint8().itemsize)
         wrist_img_array = np.ndarray(wrist_img_shape, dtype = np.uint8, buffer = wrist_img_shm.buf)
         img_client = ImageClient(tv_img_shape = tv_img_shape, tv_img_shm_name = tv_img_shm.name, 
-                                 wrist_img_shape = wrist_img_shape, wrist_img_shm_name = wrist_img_shm.name,server_address="127.0.0.1")
+                                 wrist_img_shape = wrist_img_shape, wrist_img_shm_name = wrist_img_shm.name, server_address="127.0.0.1")
+    elif WRIST and not args.sim:
+        wrist_img_shape = (img_config['wrist_camera_image_shape'][0], img_config['wrist_camera_image_shape'][1] * 2, 3)
+        wrist_img_shm = shared_memory.SharedMemory(create = True, size = np.prod(wrist_img_shape) * np.uint8().itemsize)
+        wrist_img_array = np.ndarray(wrist_img_shape, dtype = np.uint8, buffer = wrist_img_shm.buf)
+        img_client = ImageClient(tv_img_shape = tv_img_shape, tv_img_shm_name = tv_img_shm.name, 
+                                 wrist_img_shape = wrist_img_shape, wrist_img_shm_name = wrist_img_shm.name)
     else:
-        img_client = ImageClient(tv_img_shape = tv_img_shape, tv_img_shm_name = tv_img_shm.name, server_address="127.0.0.1")
+        img_client = ImageClient(tv_img_shape = tv_img_shape, tv_img_shm_name = tv_img_shm.name)
 
     image_receive_thread = threading.Thread(target = img_client.receive_process, daemon = True)
     image_receive_thread.daemon = True