Stuck when using TeleopSystem and DataCollectionWrapper together

[Bailey-24]

hello, thanks for your great work.
I can ran successfully in tests/test_data_colloection.py and omnigibson/examples/teleoperation/robot_teleoperate_demo.py, but I can't use DataCollectionWrapper with the teleopeation system.
I change the code in omnigibson/examples/teleoperation/robot_teleoperate_demo.py, in the following, but it stuck, I can't control the robot by keyboard or quest pro.

    cfg = dict(scene=scene_cfg, robots=[robot_cfg], objects=object_cfg)

    # Create the environment
    env = og.Environment(configs=cfg)
    env = DataCollectionWrapper(
        env=env,
        output_path=collect_hdf5_path,
        only_successes=False,
    )
    for i in range(2):
        env.reset()
    # update viewer camera pose
    og.sim.viewer_camera.set_position_orientation(position=[-0.22, 0.99, 1.09], orientation=[-0.14, 0.47, 0.84, -0.23])
    # Start teleoperation system
    robot = env.robots[0]

    # Initialize teleoperation system
    teleop_sys = TeleopSystem(config=teleop_config, robot=robot, show_control_marker=True)
    teleop_sys.start()

    # main simulation loop
    for _ in range(2000):
        action = teleop_sys.get_action(teleop_sys.get_obs())
        env.step(action)
        
        
    env.save_data()
    print("Data saved!")        

    # Shut down the environment cleanly at the end
    teleop_sys.stop()
    og.clear()

or in https://github.com/StanfordVL/OmniGibson/blob/main/tests/test_data_collection.py,

def test_data_collect_and_playback():
    from telemoma.configs.base_config import teleop_config
    from telemoma.utils.camera_utils import RealSenseCamera

    from omnigibson.utils.teleop_utils import TeleopSystem
    robot_name = choose_from_options(options=ROBOTS, name="robot")
    arm_teleop_method = choose_from_options(options=TELEOP_METHOD, name="robot arm teleop method")
    if robot_name != "FrankaPanda":
        base_teleop_method = choose_from_options(options=TELEOP_METHOD, name="robot base teleop method")
    else:
        base_teleop_method = "keyboard"  # Dummy value since FrankaPanda does not have a base
    # Generate teleop config
    teleop_config.arm_left_controller = arm_teleop_method
    teleop_config.arm_right_controller = arm_teleop_method
    teleop_config.base_controller = base_teleop_method
    teleop_config.interface_kwargs["keyboard"] = {"arm_speed_scaledown": 0.04}
    teleop_config.interface_kwargs["spacemouse"] = {"arm_speed_scaledown": 0.04}
    if arm_teleop_method == "vision" or base_teleop_method == "vision":
        teleop_config.interface_kwargs["vision"] = {"camera": RealSenseCamera()}

    cfg = {
        "env": {
            "external_sensors": [],
        },
        "scene": {
            "type": "InteractiveTraversableScene",
            "scene_model": "Rs_int",
            "load_object_categories": ["floors", "breakfast_table"],
        },
        "robots": [
            {
                "type": "Fetch",
                "obs_modalities": [],
            }
        ],
        # Task kwargs
        "task": {
            "type": "BehaviorTask",
            # BehaviorTask-specific
            "activity_name": "assembling_gift_baskets",
            "online_object_sampling": True,
        },
    }

    if og.sim is None:
        # Make sure GPU dynamics are enabled (GPU dynamics needed for cloth)
        gm.ENABLE_OBJECT_STATES = True
        gm.USE_GPU_DYNAMICS = True
        gm.ENABLE_TRANSITION_RULES = False
    else:
        # Make sure sim is stopped
        og.sim.stop()

    vr_data = "/home/pi/Documents/OmniGibson/vr_data"
    collect_hdf5_path = os.path.join(vr_data, "test_data_collection.hdf5")
    playback_hdf5_path = os.path.join(vr_data, "test_data_playback.hdf5")
    # Create the environment (wrapped as a DataCollection env)
    env = og.Environment(configs=cfg)
    robot = env.robots[0]
    env = DataCollectionWrapper(
        env=env,
        output_path=collect_hdf5_path,
        only_successes=False,
    )
    for _ in range(2):
        env.reset()

    # Initialize teleoperation system
    teleop_sys = TeleopSystem(config=teleop_config, robot=robot, show_control_marker=True)
    teleop_sys.start()
    
    # Record 2 episodes
    for i in range(2000):
        action = teleop_sys.get_action(teleop_sys.get_obs())
        env.step(action)

    # Save this data
    env.save_data()
    print("Data collection done")
    # Clear the sim
    og.clear(
        physics_dt=0.001,
        rendering_dt=0.001,
        sim_step_dt=0.001,
    )

How to solve