From 68d7898603ff52101ec26859aab4fa11a5380520 Mon Sep 17 00:00:00 2001
From: Vinman <vinman.cub@gmail.com>
Date: Mon, 29 Jun 2026 17:08:53 +0800
Subject: [PATCH] =?UTF-8?q?fix(vive-tracker):=20=E5=88=A0=E9=99=A4?=
 =?UTF-8?q?=E9=87=8D=E5=A4=8D=E7=9A=84=20=5F=5Fdel=5F=5F=20=E6=96=B9?=
 =?UTF-8?q?=E6=B3=95=EF=BC=8C=E5=A2=9E=E5=8A=A0=E7=94=9F=E5=91=BD=E5=91=A8?=
 =?UTF-8?q?=E6=9C=9F=E6=97=A5=E5=BF=97?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../devices/umi/vive_tracker/vive_tracker.py  | 19 +++++++------------
 1 file changed, 7 insertions(+), 12 deletions(-)

diff --git a/src/ufactory_lerobot/devices/umi/vive_tracker/vive_tracker.py b/src/ufactory_lerobot/devices/umi/vive_tracker/vive_tracker.py
index a5b0631..22dc2c3 100644
--- a/src/ufactory_lerobot/devices/umi/vive_tracker/vive_tracker.py
+++ b/src/ufactory_lerobot/devices/umi/vive_tracker/vive_tracker.py
@@ -81,20 +81,25 @@ class ViveTracker(metaclass=SingletonMeta):
 
     def stop(self):
         """停止采集线程 (不释放 context, 可重新 start)"""
+        logger.info("Stopping Vive Tracker pose tracking...")
         self.running = False
         if self._collector_thread is not None:
             self._collector_thread.join(timeout=2.0)
             self._collector_thread = None
+            logger.info("Vive Tracker pose tracking stopped")
 
     def close(self):
         """停止采集并释放 pysurvive context。"""
         self.stop()
         if self._context is not None:
             try:
+                logger.info("Closing Vive Tracker pysurvive context...")
                 self._context.close()
-            except Exception:
-                pass
+                logger.info("Vive Tracker pysurvive context closed")
+            except Exception as e:
+                logger.debug(f"Vive Tracker context close error: {e}")
             self._context = None
+        logger.info("Vive Tracker disconnected")
 
     def __del__(self):
         # 只做兜底清理，吞掉所有异常避免 __del__ 抛异常导致解释器崩溃
@@ -103,16 +108,6 @@ class ViveTracker(metaclass=SingletonMeta):
         except Exception:
             pass
     
-    def __del__(self):
-        logger.info("Stopping Vive Tracker pose tracking...")
-        self.running = False
-        # 等待线程结束
-        if self._collector_thread:
-            self._collector_thread.join(timeout=2.0)
-        # 清理资源
-        self._context = None
-        logger.info("Vive Tracker disconnected")
-    
     # def list_devices(self):
     #     import pysurvive
     #     for obj in self._context.Objects():