[fix] sshkeboard exit bug

teleop/robot_control/robot_arm.py

@@ -232,7 +232,7 @@ class G1_29_ArmController:
             current_q = self.get_current_dual_arm_q()
             if np.all(np.abs(current_q) < tolerance):
                 if self.motion_mode:
-                    for weight in np.arange(1, 0, -0.01):
+                    for weight in np.linspace(1, 0, num=101):
                         self.msg.motor_cmd[G1_29_JointIndex.kNotUsedJoint0].q = weight;
                         time.sleep(0.02)
                 logger_mp.info("[G1_29_ArmController] both arms have reached the home position.")

teleop/teleop_hand_and_arm.py

@@ -213,7 +213,6 @@ if __name__ == '__main__':
                 cv2.imshow("record image", tv_resized_image)
                 key = cv2.waitKey(1) & 0xFF
                 if key == ord('q'):
-                    stop_listening()
                     running = False
                     if args.sim:
                         publish_reset_category(2, reset_pose_publisher)
@@ -260,6 +259,7 @@ if __name__ == '__main__':
                 # quit teleoperate
                 if tele_data.tele_state.right_aButton:
                     running = False
+                    stop_listening()
                 # 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:
                     sport_client.Damp()