[update] submodule and lazy import

.gitmodules

@@ -1,9 +1,9 @@
 [submodule "teleop/televuer"]
 	path = teleop/televuer
-	url = https://github.com/silencht/televuer
+	url = https://github.com/unitreerobotics/televuer
 [submodule "teleop/robot_control/dex-retargeting"]
 	path = teleop/robot_control/dex-retargeting
 	url = https://github.com/silencht/dex-retargeting
 [submodule "teleop/teleimager"]
 	path = teleop/teleimager
-	url = https://github.com/silencht/teleimager.git
+	url = https://github.com/unitreerobotics/teleimager.git

teleop/teleimager

@@ -1 +1 @@
-Subproject commit 81720e0bb384d9f79cb10160e9e604d505f1e1a2
+Subproject commit 89d461330479ed0d71d642e092acea9e9fe71494

teleop/teleop_hand_and_arm.py

@@ -15,9 +15,6 @@ sys.path.append(parent_dir)
 from televuer import TeleVuerWrapper
 from teleop.robot_control.robot_arm import G1_29_ArmController, G1_23_ArmController, H1_2_ArmController, H1_ArmController
 from teleop.robot_control.robot_arm_ik import G1_29_ArmIK, G1_23_ArmIK, H1_2_ArmIK, H1_ArmIK
-from teleop.robot_control.robot_hand_unitree import Dex3_1_Controller, Dex1_1_Gripper_Controller
-from teleop.robot_control.robot_hand_inspire import Inspire_Controller_DFX, Inspire_Controller_FTP
-from teleop.robot_control.robot_hand_brainco import Brainco_Controller
 from teleimager.image_client import ImageClient
 from teleop.utils.episode_writer import EpisodeWriter
 from teleop.utils.ipc import IPC_Server
@@ -154,6 +151,7 @@ if __name__ == '__main__':
 
         # end-effector
         if args.ee == "dex3":
+            from teleop.robot_control.robot_hand_unitree import Dex3_1_Controller
             left_hand_pos_array = Array('d', 75, lock = True)      # [input]
             right_hand_pos_array = Array('d', 75, lock = True)     # [input]
             dual_hand_data_lock = Lock()
@@ -162,6 +160,7 @@ if __name__ == '__main__':
             hand_ctrl = Dex3_1_Controller(left_hand_pos_array, right_hand_pos_array, dual_hand_data_lock, 
                                           dual_hand_state_array, dual_hand_action_array, simulation_mode=args.sim)
         elif args.ee == "dex1":
+            from teleop.robot_control.robot_hand_unitree import Dex1_1_Gripper_Controller
             left_gripper_value = Value('d', 0.0, lock=True)        # [input]
             right_gripper_value = Value('d', 0.0, lock=True)       # [input]
             dual_gripper_data_lock = Lock()
@@ -170,6 +169,7 @@ if __name__ == '__main__':
             gripper_ctrl = Dex1_1_Gripper_Controller(left_gripper_value, right_gripper_value, dual_gripper_data_lock, 
                                                      dual_gripper_state_array, dual_gripper_action_array, simulation_mode=args.sim)
         elif args.ee == "inspire_dfx":
+            from teleop.robot_control.robot_hand_inspire import Inspire_Controller_DFX
             left_hand_pos_array = Array('d', 75, lock = True)      # [input]
             right_hand_pos_array = Array('d', 75, lock = True)     # [input]
             dual_hand_data_lock = Lock()
@@ -177,6 +177,7 @@ if __name__ == '__main__':
             dual_hand_action_array = Array('d', 12, lock = False)  # [output] current left, right hand action(12) data.
             hand_ctrl = Inspire_Controller_DFX(left_hand_pos_array, right_hand_pos_array, dual_hand_data_lock, dual_hand_state_array, dual_hand_action_array, simulation_mode=args.sim)
         elif args.ee == "inspire_ftp":
+            from teleop.robot_control.robot_hand_inspire import Inspire_Controller_FTP
             left_hand_pos_array = Array('d', 75, lock = True)      # [input]
             right_hand_pos_array = Array('d', 75, lock = True)     # [input]
             dual_hand_data_lock = Lock()
@@ -184,6 +185,7 @@ if __name__ == '__main__':
             dual_hand_action_array = Array('d', 12, lock = False)  # [output] current left, right hand action(12) data.
             hand_ctrl = Inspire_Controller_FTP(left_hand_pos_array, right_hand_pos_array, dual_hand_data_lock, dual_hand_state_array, dual_hand_action_array, simulation_mode=args.sim)
         elif args.ee == "brainco":
+            from teleop.robot_control.robot_hand_brainco import Brainco_Controller
             left_hand_pos_array = Array('d', 75, lock = True)      # [input]
             right_hand_pos_array = Array('d', 75, lock = True)     # [input]
             dual_hand_data_lock = Lock()
@@ -463,6 +465,9 @@ if __name__ == '__main__':
 
     except KeyboardInterrupt:
         logger_mp.info("KeyboardInterrupt, exiting program...")
+    except Exception:
+        import traceback
+        logger_mp.error(traceback.format_exc())
     finally:
         try:
             arm_ctrl.ctrl_dual_arm_go_home()
@@ -490,8 +495,9 @@ if __name__ == '__main__':
 
         try:
             if not args.motion:
-                status, result = motion_switcher.Exit_Debug_Mode()
-                logger_mp.info(f"Exit debug mode: {'Success' if status == 3104 else 'Failed'}")
+                pass
+                # status, result = motion_switcher.Exit_Debug_Mode()
+                # logger_mp.info(f"Exit debug mode: {'Success' if status == 3104 else 'Failed'}")
         except Exception as e:
             logger_mp.error(f"Failed to exit debug mode: {e}")