sync recent changes

additional_functions/check_loco_active.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+"""
+Check if the Unitree locomotion DDS domain / LocoClient is already initialized.
+Does NOT send any commands — safe to run.
+"""
+
+import sys
+import psutil  # pip install psutil if missing
+import os
+
+sys.path.append('/Users/nepyope/Documents/unitree/unitree_IL_lerobot/unitree_sdk2_python')
+
+from unitree_sdk2py.core.channel import ChannelFactory
+
+def is_loco_domain_active():
+    """Detect if a ChannelFactory singleton is already initialized in this process."""
+    fac = ChannelFactory()
+    active = getattr(fac, "_ChannelFactory__initialized", False)
+    participant = getattr(fac, "_ChannelFactory__participant", None)
+    domain = getattr(fac, "_ChannelFactory__domain", None)
+    return active, participant, domain
+
+def check_other_python_processes():
+    """See if another Python process using the Unitree SDK is alive."""
+    procs = []
+    for p in psutil.process_iter(attrs=["pid", "name", "cmdline"]):
+        try:
+            if "python" in p.info["name"].lower() and any("unitree" in arg for arg in p.info["cmdline"]):
+                procs.append((p.info["pid"], " ".join(p.info["cmdline"])))
+        except Exception:
+            pass
+    return procs
+
+if __name__ == "__main__":
+    active, participant, domain = is_loco_domain_active()
+    print("=== Local DDS Factory State ===")
+    print(f"Factory initialized: {active}")
+    print(f"Participant: {participant}")
+    print(f"Domain: {domain}")
+    print()
+
+    print("=== Other Python processes using Unitree SDK ===")
+    procs = check_other_python_processes()
+    if not procs:
+        print("No other active Unitree-related Python processes found.")
+    else:
+        for pid, cmd in procs:
+            print(f"PID {pid}: {cmd}")
+
+    print()
+    if os.path.exists("/tmp/CycloneDDS"):
+        print("Warning: /tmp/CycloneDDS exists — could indicate leftover DDS shared memory.")