wait for first actions

2026-05-16 00:59:46 +00:00 · 2026-01-09 13:45:06 +01:00
parent 63c28ea395
commit 9cc841c674
2 changed files with 11 additions and 0 deletions
@@ -547,6 +547,11 @@ def main(cfg: RaCRTCConfig):

                            prev_action = current_action
                            interp_idx = 0
+                        else:
+                            # No action yet - hold current position while waiting for first inference
+                            hold_pos = {k: v for k, v in obs_filtered.items() if k.endswith(".pos")}
+                            robot.send_action(hold_pos)
+                            robot_send_count += 1

                    if interp_idx < len(interpolated_actions):
                        action_to_send = interpolated_actions[interp_idx]