wuji-cli-record

Mental Model

wuji record teleop is a foreground, read-only observer. Start the existing Glove to Hand 2 teleoperation program first, then run recording in a second terminal. The recorder attaches to the owner's shared device sessions and never publishes commands or takes over a disconnected device.

The managed MCAP contains the fixed teleoperation preset: Glove emf_poses and hand_skeleton, global tf and tf_static, Hand 2 joint_command and joint_states, plus joint_diagnostics when available.

Record Teleoperation

# Unique active Glove + Hand 2 pair
wuji record teleop

# Select an explicit pair when multiple devices are active
wuji record teleop --glove <GLOVE_SN> --hand <HAND_SN>

Stop recording with Ctrl+C, or send exactly one SIGTERM with kill <PID>; then wait for the final stopped report. Do not send another Ctrl+C or SIGTERM, cancel the command, or kill the process while the MCAP is finalizing. A second signal during finalization forces an exit with code 130 and may leave an unfinalized partial recording. The CLI normally finalizes MCAP, updates the manifest, detaches both read-only sessions, and leaves the teleoperation owner running. kill -9 cannot be handled and may leave an interrupted, unfinalized file.

Human TTY terminals receive a compact heartbeat at 5 Hz. Non-TTY Human output appends one every 30 seconds. --json emits only the final report; --jsonl emits started, periodic progress, and final stopped records.