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wait for takeover press

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This commit is contained in:
Pepijn
2026-01-02 10:18:59 +01:00
parent a447c652cb
commit 20f0381f81
2 changed files with 55 additions and 16 deletions
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examples/rac/rac_data_collection.py
+34 -8
View File
@@ -317,6 +317,9 @@ def rac_rollout_loop(
}
last_robot_action = None
was_paused = False
was_correction_active = False
waiting_for_takeover = False
timestamp = 0
start_t = time.perf_counter()
@@ -329,6 +332,21 @@ def rac_rollout_loop(
events["correction_active"] = False
break
# Detect transition to paused state
if events["policy_paused"] and not was_paused:
obs = robot.get_observation()
robot_pos = {k: v for k, v in obs.items() if k.endswith(".pos")}
print("[RaC] Moving teleop to robot position (2s smooth transition)...")
teleop.smooth_move_to(robot_pos, duration_s=2.0, fps=50)
print("[RaC] Teleop aligned. Press 'c' to take control.")
waiting_for_takeover = True
was_paused = True
# Detect transition to correction mode
if events["correction_active"] and not was_correction_active:
waiting_for_takeover = False
was_correction_active = True
obs = robot.get_observation()
obs_frame = build_dataset_frame(dataset.features, obs, prefix=OBS_STR)
@@ -344,8 +362,8 @@ def rac_rollout_loop(
frame_buffer.append(frame)
stats["total_frames"] += 1
elif events["policy_paused"]:
# Paused - hold last position, don't record
elif events["policy_paused"] and not waiting_for_takeover:
# Paused and user acknowledged - hold last position, don't record
if last_robot_action is not None:
robot.send_action(last_robot_action)
stats["paused_frames"] += 1
@@ -394,9 +412,9 @@ def reset_loop(
events: dict,
fps: int,
):
"""Reset period where human repositions environment. Waits for user to start next episode."""
"""Reset period where human repositions environment. Two-stage: enable teleop, then start episode."""
print("\n" + "=" * 65)
print(" [RaC] RESET - Move robot to starting position")
print(" [RaC] RESET - Moving teleop to robot position...")
print("=" * 65)
# Enter reset mode
@@ -406,13 +424,21 @@ def reset_loop(
# Move teleop to match robot position to avoid sudden jumps
obs = robot.get_observation()
robot_pos = {k: v for k, v in obs.items() if k.endswith(".pos")}
print(" Moving teleop to robot position...")
teleop.smooth_move_to(robot_pos, duration_s=2.0, fps=50)
# Stage 1: Wait for user to press start to enable teleoperation
print(" Teleop aligned. Press any key/pedal to enable teleoperation")
while not events["start_next_episode"] and not events["stop_recording"]:
precise_sleep(0.05)
if events["stop_recording"]:
return
# Stage 2: Enable teleop and let user move robot to starting position
events["start_next_episode"] = False
teleop.disable_torque()
print(" Teleop active - move robot to starting position")
print(" Press SPACE / → / 'c' or any pedal to start next episode")
print("=" * 65)
print(" Teleop enabled - move robot to starting position")
print(" Press any key/pedal to start next episode")
# Wait for user to signal ready for next episode
while not events["start_next_episode"] and not events["stop_recording"]:
examples/rac/rac_data_collection_openarms.py
+21 -8
View File
@@ -328,6 +328,7 @@ def rac_rollout_loop(
teleop.disable_torque()
was_paused = False
was_correction_active = False
waiting_for_takeover = False
timestamp = 0
start_t = time.perf_counter()
@@ -346,14 +347,16 @@ def rac_rollout_loop(
obs = robot.get_observation()
obs_filtered = {k: v for k, v in obs.items() if k in robot.observation_features}
robot_pos = {k: v for k, v in obs_filtered.items() if k.endswith(".pos")}
print("[RaC] Moving teleop to robot position (1s smooth transition)...")
print("[RaC] Moving teleop to robot position (2s smooth transition)...")
teleop.smooth_move_to(robot_pos, duration_s=2.0, fps=50)
print("[RaC] Teleop aligned. Press 'c' to take control.")
waiting_for_takeover = True
was_paused = True
# Detect transition to correction mode (disable torque for human control)
if events["correction_active"] and not was_correction_active:
teleop.disable_torque()
waiting_for_takeover = False
was_correction_active = True
obs = robot.get_observation()
@@ -376,8 +379,8 @@ def rac_rollout_loop(
frame_buffer.append(frame)
stats["total_frames"] += 1
elif events["policy_paused"]:
# Paused - teleop tracks robot position, don't record
elif events["policy_paused"] and not waiting_for_takeover:
# Paused and user acknowledged - teleop tracks robot position, don't record
robot_action = {k: v for k, v in obs_filtered.items() if k.endswith(".pos")}
teleop.send_feedback(robot_action)
stats["paused_frames"] += 1
@@ -426,9 +429,9 @@ def reset_loop(
events: dict,
fps: int,
):
"""Reset period where human repositions environment. Waits for user to start next episode."""
"""Reset period where human repositions environment. Two-stage: enable teleop, then start episode."""
print("\n" + "=" * 65)
print(" [RaC] RESET - Move robot to starting position")
print(" [RaC] RESET - Moving teleop to robot position...")
print("=" * 65)
# Enter reset mode
@@ -438,11 +441,21 @@ def reset_loop(
# First move teleop to match robot position to avoid sudden jumps
obs = robot.get_observation()
robot_pos = {k: v for k, v in obs.items() if k.endswith(".pos") and k in robot.observation_features}
print(" Moving teleop to robot position...")
teleop.smooth_move_to(robot_pos, duration_s=2.0, fps=50)
# Stage 1: Wait for user to press start to enable teleoperation
print(" Teleop aligned. Press any key/pedal to enable teleoperation")
while not events["start_next_episode"] and not events["stop_recording"]:
precise_sleep(0.05)
if events["stop_recording"]:
return
# Stage 2: Enable teleop and let user move robot to starting position
events["start_next_episode"] = False
teleop.disable_torque()
print(" Teleop active - move robot to starting position")
print(" Press SPACE / → / 'c' or any pedal to start next episode")
print(" Teleop enabled - move robot to starting position")
print(" Press any key/pedal to start next episode")
# Wait for user to signal ready for next episode
while not events["start_next_episode"] and not events["stop_recording"]: