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fix queue

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This commit is contained in:
Pepijn
2026-01-09 14:00:06 +01:00
parent b16e2f25f7
commit 1f93a74d8c
1 changed files with 6 additions and 4 deletions
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examples/rac/rac_data_collection_openarms_rtc.py
+6 -4
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@@ -257,7 +257,7 @@ def get_actions_thread(
policy, policy,
robot: RobotWrapper, robot: RobotWrapper,
robot_observation_processor, robot_observation_processor,
action_queue: ActionQueue, action_queue_holder: dict,
shutdown_event: Event, shutdown_event: Event,
cfg: RaCRTCConfig, cfg: RaCRTCConfig,
policy_active: Event, policy_active: Event,
@@ -289,6 +289,7 @@ def get_actions_thread(
time.sleep(0.01) time.sleep(0.01)
continue continue
action_queue = action_queue_holder["queue"]
if action_queue.qsize() <= get_actions_threshold: if action_queue.qsize() <= get_actions_threshold:
current_time = time.perf_counter() current_time = time.perf_counter()
action_index_before_inference = action_queue.get_action_index() action_index_before_inference = action_queue.get_action_index()
@@ -429,11 +430,11 @@ def main(cfg: RaCRTCConfig):
policy.eval() policy.eval()
logger.info(f"Policy loaded: {policy.name}") logger.info(f"Policy loaded: {policy.name}")
action_queue = ActionQueue(cfg.rtc) action_queue_holder = {"queue": ActionQueue(cfg.rtc)}
get_actions_t = Thread( get_actions_t = Thread(
target=get_actions_thread, target=get_actions_thread,
args=(policy, robot, obs_proc, action_queue, shutdown_event, cfg, policy_active, fps), args=(policy, robot, obs_proc, action_queue_holder, shutdown_event, cfg, policy_active, fps),
daemon=True, daemon=True,
name="GetActions", name="GetActions",
) )
@@ -462,7 +463,8 @@ def main(cfg: RaCRTCConfig):
while recorded < cfg.dataset.num_episodes and not events["stop_recording"]: while recorded < cfg.dataset.num_episodes and not events["stop_recording"]:
log_say(f"RaC episode {recorded + 1}", play_sounds=cfg.play_sounds) log_say(f"RaC episode {recorded + 1}", play_sounds=cfg.play_sounds)
action_queue = ActionQueue(cfg.rtc) action_queue_holder["queue"] = ActionQueue(cfg.rtc)
action_queue = action_queue_holder["queue"]
events["policy_paused"] = False events["policy_paused"] = False
events["correction_active"] = False events["correction_active"] = False
events["start_correction"] = False events["start_correction"] = False