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wait for start button before teleop

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This commit is contained in:
Pepijn
2026-01-02 13:05:00 +01:00
parent 90145426b4
commit 464b65cfb0
2 changed files with 30 additions and 26 deletions
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examples/rac/rac_data_collection.py
+15 -13
View File
@@ -161,14 +161,13 @@ def init_rac_keyboard_listener():
# During episode
if key == keyboard.Key.space:
if not events["policy_paused"] and not events["correction_active"]:
print("\n[RaC] ⏸ PAUSED - Policy stopped, teleop tracking robot")
print(" Press 'c' to take control and start correction")
print("\n[RaC] ⏸ PAUSED - Policy stopped, teleop moving to robot position")
print(" Press 'c' or START to take control")
events["policy_paused"] = True
elif hasattr(key, 'char') and key.char == 'c':
if events["policy_paused"] and not events["correction_active"]:
print("\n[RaC] ▶ CORRECTION - You have control (recording)")
print(" Teleoperate to correct, press → when done")
events["correction_active"] = True
print("\n[RaC] ▶ START pressed - taking control")
events["start_next_episode"] = True
elif key == keyboard.Key.right:
print("[RaC] → End episode")
events["exit_early"] = True
@@ -238,16 +237,15 @@ def start_pedal_listener(events: dict):
print("\n[Pedal] → End episode")
events["exit_early"] = True
elif not events["policy_paused"]:
print("\n[Pedal] ⏸ PAUSED - Policy stopped, teleop tracking robot")
print("\n[Pedal] ⏸ PAUSED - Policy stopped, teleop moving to robot")
print(" Press left pedal to take control")
events["policy_paused"] = True
elif code == KEY_LEFT:
# Left pedal: 'c' (take control) when paused
# Left pedal: START (take control) when paused
if events["policy_paused"] and not events["correction_active"]:
print("\n[Pedal] ▶ CORRECTION - You have control (recording)")
print(" Press right pedal when done")
events["correction_active"] = True
print("\n[Pedal] ▶ START pressed - taking control")
events["start_next_episode"] = True
except FileNotFoundError:
logging.info(f"[Pedal] Device not found: {PEDAL_DEVICE}")
@@ -353,12 +351,16 @@ def rac_rollout_loop(
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.")
print("[RaC] Teleop aligned. Press START to take control.")
events["start_next_episode"] = False
waiting_for_takeover = True
was_paused = True
# Detect transition to correction mode
if events["correction_active"] and not was_correction_active:
# Wait for start button before enabling correction mode
if waiting_for_takeover and events["start_next_episode"]:
print("[RaC] Start pressed - enabling teleop control...")
events["start_next_episode"] = False
events["correction_active"] = True
waiting_for_takeover = False
was_correction_active = True
examples/rac/rac_data_collection_openarms.py
+15 -13
View File
@@ -167,14 +167,13 @@ def init_rac_keyboard_listener():
# During episode
if key == keyboard.Key.space:
if not events["policy_paused"] and not events["correction_active"]:
print("\n[RaC] ⏸ PAUSED - Policy stopped, teleop tracking robot")
print(" Press 'c' to take control and start correction")
print("\n[RaC] ⏸ PAUSED - Policy stopped, teleop moving to robot position")
print(" Press 'c' or START to take control")
events["policy_paused"] = True
elif hasattr(key, 'char') and key.char == 'c':
if events["policy_paused"] and not events["correction_active"]:
print("\n[RaC] ▶ CORRECTION - You have control (recording)")
print(" Teleoperate to correct, press → when done")
events["correction_active"] = True
print("\n[RaC] ▶ START pressed - taking control")
events["start_next_episode"] = True
elif key == keyboard.Key.right:
print("[RaC] → End episode")
events["exit_early"] = True
@@ -244,16 +243,15 @@ def start_pedal_listener(events: dict):
print("\n[Pedal] → End episode")
events["exit_early"] = True
elif not events["policy_paused"]:
print("\n[Pedal] ⏸ PAUSED - Policy stopped, teleop tracking robot")
print("\n[Pedal] ⏸ PAUSED - Policy stopped, teleop moving to robot")
print(" Press left pedal to take control")
events["policy_paused"] = True
elif code == KEY_LEFT:
# Left pedal: 'c' (take control) when paused
# Left pedal: START (take control) when paused
if events["policy_paused"] and not events["correction_active"]:
print("\n[Pedal] ▶ CORRECTION - You have control (recording)")
print(" Press right pedal when done")
events["correction_active"] = True
print("\n[Pedal] ▶ START pressed - taking control")
events["start_next_episode"] = True
except FileNotFoundError:
logging.info(f"[Pedal] Device not found: {PEDAL_DEVICE}")
@@ -365,13 +363,17 @@ def rac_rollout_loop(
robot_pos = {k: v for k, v in obs_filtered.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.")
print("[RaC] Teleop aligned. Press START to take control.")
events["start_next_episode"] = False
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:
# Wait for start button before enabling correction mode
if waiting_for_takeover and events["start_next_episode"]:
print("[RaC] Start pressed - enabling teleop control...")
teleop.disable_torque()
events["start_next_episode"] = False
events["correction_active"] = True
waiting_for_takeover = False
was_correction_active = True