From d3f51a9167b9dbdda16616249fb09534c8b6c524 Mon Sep 17 00:00:00 2001
From: silencht <silencht@qq.com>
Date: Sat, 11 Oct 2025 16:49:18 +0800
Subject: [PATCH] [fix] state transition

when STOP = True, START should be False
---
 teleop/teleop_hand_and_arm.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/teleop/teleop_hand_and_arm.py b/teleop/teleop_hand_and_arm.py
index 3c72f6b..2f366b5 100644
--- a/teleop/teleop_hand_and_arm.py
+++ b/teleop/teleop_hand_and_arm.py
@@ -48,6 +48,7 @@ def on_press(key):
     if key == 'r':
         START = True
     elif key == 'q':
+        START = False
         STOP = True
     elif key == 's' and START == True:
         RECORD_TOGGLE = True
@@ -268,6 +269,7 @@ if __name__ == '__main__':
                 # opencv GUI communication
                 key = cv2.waitKey(1) & 0xFF
                 if key == ord('q'):
+                    START = False
                     STOP = True
                     if args.sim:
                         publish_reset_category(2, reset_pose_publisher)
@@ -313,6 +315,7 @@ if __name__ == '__main__':
             if args.xr_mode == "controller" and args.motion:
                 # quit teleoperate
                 if tele_data.tele_state.right_aButton:
+                    START = False
                     STOP = True
                 # 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: