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join subscribe thread after disconnecting robot

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This commit is contained in:
Martino Russi
2025-12-02 16:36:33 +01:00
parent 289b7d50da
commit c56f52f334
1 changed files with 4 additions and 3 deletions
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src/lerobot/robots/unitree_g1/unitree_g1.py
+4 -3
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@@ -138,8 +138,8 @@ class UnitreeG1(Robot):
self.lowstate_buffer = DataBuffer() self.lowstate_buffer = DataBuffer()
# initialize subscribe thread to read robot state # initialize subscribe thread to read robot state
self._shutdown_event = threading.Event()
self.subscribe_thread = threading.Thread(target=self._subscribe_motor_state) self.subscribe_thread = threading.Thread(target=self._subscribe_motor_state)
self.subscribe_thread.daemon = True
self.subscribe_thread.start() self.subscribe_thread.start()
while not self.is_connected: while not self.is_connected:
@@ -174,7 +174,7 @@ class UnitreeG1(Robot):
self.remote_controller = self.RemoteController() self.remote_controller = self.RemoteController()
def _subscribe_motor_state(self): # polls robot state @ 250Hz def _subscribe_motor_state(self): # polls robot state @ 250Hz
while True: while not self._shutdown_event.is_set():
start_time = time.time() start_time = time.time()
msg = self.lowstate_subscriber.Read() msg = self.lowstate_subscriber.Read()
if msg is not None: if msg is not None:
@@ -221,7 +221,8 @@ class UnitreeG1(Robot):
ChannelFactoryInitialize(0) ChannelFactoryInitialize(0)
def disconnect(self): def disconnect(self):
pass self._shutdown_event.set()
self.subscribe_thread.join(timeout=2.0)
def get_observation(self) -> dict[str, Any]: def get_observation(self) -> dict[str, Any]:
return self.lowstate_buffer.get_data() return self.lowstate_buffer.get_data()