From 1716d599c10d4919ef6145b63f1cb72cea2529ea Mon Sep 17 00:00:00 2001 From: Pepijn Date: Tue, 30 Dec 2025 12:01:26 +0100 Subject: [PATCH] only use position in dataset --- examples/rac/rac_data_collection_openarms.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/rac/rac_data_collection_openarms.py b/examples/rac/rac_data_collection_openarms.py index eac3b31dc..6307af082 100644 --- a/examples/rac/rac_data_collection_openarms.py +++ b/examples/rac/rac_data_collection_openarms.py @@ -250,8 +250,8 @@ def rac_rollout_loop( was_intervention_active = True obs = robot.get_observation() - # Filter out internal timing data before building frame - obs_filtered = {k: v for k, v in obs.items() if not k.startswith("_")} + # Filter to only include keys in observation_features (excludes .vel, .torque, _timing, etc.) + obs_filtered = {k: v for k, v in obs.items() if k in robot.observation_features} obs_frame = build_dataset_frame(dataset.features, obs_filtered, prefix=OBS_STR) if not events["intervention_active"]: