change pedal flow

docs/source/rac.mdx

@@ -122,32 +122,42 @@ python examples/rac/rac_data_collection.py \
     --dataset.num_episodes=50
 ```
 
-**Keyboard Controls:**
+**Controls (Keyboard + Foot Pedal):**
 
-| Key | Action |
-|-----|--------|
-| **SPACE** | Pause policy (teleop mirrors robot, no recording) |
-| **c** | Take control (start correction, recording resumes) |
-| **→** | End episode (save) |
+| Key / Pedal | Action |
+|-------------|--------|
+| **SPACE** / Right pedal | Pause policy (teleop mirrors robot, no recording) |
+| **c** / Left pedal | Take control (start correction, recording resumes) |
+| **→** / Right pedal | End episode (save) - when in correction mode |
 | **←** | Re-record episode |
 | **ESC** | Stop session and push to hub |
+| Any key/pedal during reset | Start next episode |
 
 **The RaC Protocol:**
 
 1. Watch the policy run autonomously (teleop is idle/free)
-2. When you see imminent failure, press **SPACE** to pause
+2. When you see imminent failure, press **SPACE** or **right pedal** to pause
    - Policy stops
    - Teleoperator moves to match robot position (torque enabled)
    - No frames recorded during pause
-3. Press **c** to take control
+3. Press **c** or **left pedal** to take control
    - Teleoperator torque disabled, free to move
    - **RECOVERY**: Teleoperate back to a good state
    - **CORRECTION**: Complete the subtask
    - All movements are recorded
-4. Press **→** to save and end episode
+4. Press **→** or **right pedal** to save and end episode
+5. **RESET**: Teleop moves to robot position, you can move robot to starting position
+6. Press any key/pedal to start next episode
 
 The recovery and correction segments teach the policy how to recover from errors.
 
+**Foot Pedal Setup (Linux):**
+
+If using a USB foot pedal (PCsensor FootSwitch), ensure access:
+```bash
+sudo setfacl -m u:$USER:rw /dev/input/by-id/usb-PCsensor_FootSwitch-event-kbd
+```
+
 ### Step 3: (Optional) Compute SARM Rewards
 
 For advantage-weighted training (RA-BC / Pi0.6-style), compute SARM progress values: