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dont move teleop when not pause pressed

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Pepijn
2025-12-31 12:33:40 +01:00
parent f15872293d
commit 0514616c87
3 changed files with 25 additions and 24 deletions
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docs/source/rac.mdx
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@@ -134,13 +134,13 @@ python examples/rac/rac_data_collection.py \
**The RaC Protocol:**
1. Watch the policy run autonomously
1. Watch the policy run autonomously (teleop is idle/free)
2. When you see imminent failure, press **SPACE** to pause
- Policy stops, teleoperator mirrors robot position
- Allows smooth handoff without jarring movements
- Policy stops
- Teleoperator moves to match robot position (torque enabled)
- No frames recorded during pause
3. Press **c** to take control
- Teleoperator is now free to move
- Teleoperator torque disabled, free to move
- **RECOVERY**: Teleoperate back to a good state
- **CORRECTION**: Complete the subtask
- All movements are recorded