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This commit is contained in:
Pepijn
2026-01-09 16:50:44 +01:00
parent 2d1fb0f508
commit 480ee3299f
1 changed files with 22 additions and 2 deletions
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examples/rac/rac_data_collection_openarms_rtc.py
+22 -2
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@@ -355,6 +355,8 @@ def rtc_inference_thread(
if not cfg.rtc.enabled: if not cfg.rtc.enabled:
get_actions_threshold = 0 get_actions_threshold = 0
inference_count = 0
while not shutdown_event.is_set(): while not shutdown_event.is_set():
if not policy_active.is_set(): if not policy_active.is_set():
time.sleep(0.01) time.sleep(0.01)
@@ -368,10 +370,14 @@ def rtc_inference_thread(
# Get observation from shared holder (set by main loop) # Get observation from shared holder (set by main loop)
obs_filtered = obs_holder.get("obs") obs_filtered = obs_holder.get("obs")
if obs_filtered is None: if obs_filtered is None:
if inference_count == 0:
logger.warning("[RTC] Waiting for observation from main loop...")
time.sleep(0.01) time.sleep(0.01)
continue continue
if action_queue.qsize() <= get_actions_threshold: if action_queue.qsize() <= get_actions_threshold:
if inference_count == 0:
logger.info(f"[RTC] Starting first inference, obs has {len(obs_filtered)} keys")
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()
prev_actions = action_queue.get_left_over() prev_actions = action_queue.get_left_over()
@@ -419,7 +425,8 @@ def rtc_inference_thread(
original_actions, postprocessed_actions, new_delay, action_index_before_inference original_actions, postprocessed_actions, new_delay, action_index_before_inference
) )
logger.debug(f"[RTC] Generated chunk, latency={new_latency:.2f}s, queue={action_queue.qsize()}") inference_count += 1
logger.info(f"[RTC] Inference #{inference_count}, latency={new_latency:.2f}s, queue={action_queue.qsize()}, shape={postprocessed_actions.shape}")
else: else:
time.sleep(0.01) time.sleep(0.01)
@@ -551,12 +558,22 @@ def rac_rtc_rollout_loop(
else: else:
# Policy execution with RTC # Policy execution with RTC
policy_active.set() if not policy_active.is_set():
policy_active.set()
logger.info("[ROLLOUT] Policy activated, waiting for first actions...")
action_queue = queue_holder["queue"] action_queue = queue_holder["queue"]
# Get action from queue (with interpolation) # Get action from queue (with interpolation)
if interp_idx >= len(interpolated_actions): if interp_idx >= len(interpolated_actions):
new_action = action_queue.get() if action_queue else None new_action = action_queue.get() if action_queue else None
# Log queue status periodically
if stats["autonomous_frames"] == 0 and new_action is None:
qsize = action_queue.qsize() if action_queue else -1
if timestamp < 0.5 or int(timestamp * 10) % 10 == 0:
logger.info(f"[ROLLOUT] Waiting for actions... queue_size={qsize}, obs_set={obs_holder.get('obs') is not None}")
if new_action is not None: if new_action is not None:
current_action = new_action.cpu() current_action = new_action.cpu()
@@ -569,6 +586,9 @@ def rac_rtc_rollout_loop(
prev_action = current_action prev_action = current_action
interp_idx = 0 interp_idx = 0
if stats["autonomous_frames"] == 0:
logger.info(f"[ROLLOUT] Got first action! Starting robot motion.")
if interp_idx < len(interpolated_actions): if interp_idx < len(interpolated_actions):
action_to_send = interpolated_actions[interp_idx] action_to_send = interpolated_actions[interp_idx]
interp_idx += 1 interp_idx += 1