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change pedal flow

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Pepijn
2026-01-02 09:53:40 +01:00
parent 8277dbf0dc
commit a447c652cb
3 changed files with 186 additions and 111 deletions
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docs/source/rac.mdx
+19 -9
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@@ -122,32 +122,42 @@ python examples/rac/rac_data_collection.py \
--dataset.num_episodes=50 --dataset.num_episodes=50
``` ```
**Keyboard Controls:** **Controls (Keyboard + Foot Pedal):**
| Key | Action | | Key / Pedal | Action |
|-----|--------| |-------------|--------|
| **SPACE** | Pause policy (teleop mirrors robot, no recording) | | **SPACE** / Right pedal | Pause policy (teleop mirrors robot, no recording) |
| **c** | Take control (start correction, recording resumes) | | **c** / Left pedal | Take control (start correction, recording resumes) |
| **→** | End episode (save) | | **→** / Right pedal | End episode (save) - when in correction mode |
| **←** | Re-record episode | | **←** | Re-record episode |
| **ESC** | Stop session and push to hub | | **ESC** | Stop session and push to hub |
| Any key/pedal during reset | Start next episode |
**The RaC Protocol:** **The RaC Protocol:**
1. Watch the policy run autonomously (teleop is idle/free) 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 - Policy stops
- Teleoperator moves to match robot position (torque enabled) - Teleoperator moves to match robot position (torque enabled)
- No frames recorded during pause - 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 - Teleoperator torque disabled, free to move
- **RECOVERY**: Teleoperate back to a good state - **RECOVERY**: Teleoperate back to a good state
- **CORRECTION**: Complete the subtask - **CORRECTION**: Complete the subtask
- All movements are recorded - 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. 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 ### Step 3: (Optional) Compute SARM Rewards
For advantage-weighted training (RA-BC / Pi0.6-style), compute SARM progress values: For advantage-weighted training (RA-BC / Pi0.6-style), compute SARM progress values:
examples/rac/rac_data_collection.py
+46 -13
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@@ -133,6 +133,8 @@ def init_rac_keyboard_listener():
"stop_recording": False, "stop_recording": False,
"policy_paused": False, # SPACE pressed - policy paused, teleop tracking robot "policy_paused": False, # SPACE pressed - policy paused, teleop tracking robot
"correction_active": False, # 'c' pressed - human controlling, recording correction "correction_active": False, # 'c' pressed - human controlling, recording correction
"in_reset": False, # True during reset period
"start_next_episode": False, # Signal to start next episode
} }
if is_headless(): if is_headless():
@@ -143,6 +145,20 @@ def init_rac_keyboard_listener():
def on_press(key): def on_press(key):
try: try:
if events["in_reset"]:
# During reset: any action key starts next episode
if key == keyboard.Key.space or key == keyboard.Key.right:
print("\n[RaC] Starting next episode...")
events["start_next_episode"] = True
elif hasattr(key, 'char') and key.char == 'c':
print("\n[RaC] Starting next episode...")
events["start_next_episode"] = True
elif key == keyboard.Key.esc:
print("[RaC] ESC - Stop recording, pushing to hub...")
events["stop_recording"] = True
events["start_next_episode"] = True
else:
# During episode
if key == keyboard.Key.space: if key == keyboard.Key.space:
if not events["policy_paused"] and not events["correction_active"]: if not events["policy_paused"] and not events["correction_active"]:
print("\n[RaC] ⏸ PAUSED - Policy stopped, teleop tracking robot") print("\n[RaC] ⏸ PAUSED - Policy stopped, teleop tracking robot")
@@ -186,14 +202,14 @@ def start_pedal_listener(events: dict):
return return
PEDAL_DEVICE = "/dev/input/by-id/usb-PCsensor_FootSwitch-event-kbd" PEDAL_DEVICE = "/dev/input/by-id/usb-PCsensor_FootSwitch-event-kbd"
KEY_LEFT = "KEY_A" # Left pedal -> 'c' (take control) KEY_LEFT = "KEY_A" # Left pedal
KEY_RIGHT = "KEY_C" # Right pedal -> SPACE (pause) or → (next) KEY_RIGHT = "KEY_C" # Right pedal
def pedal_reader(): def pedal_reader():
try: try:
dev = InputDevice(PEDAL_DEVICE) dev = InputDevice(PEDAL_DEVICE)
print(f"[Pedal] Connected: {dev.name}") print(f"[Pedal] Connected: {dev.name}")
print(f"[Pedal] Right={KEY_RIGHT} (pause/next), Left={KEY_LEFT} (take control)") print(f"[Pedal] Right=pause/next, Left=take control/start")
for ev in dev.read_loop(): for ev in dev.read_loop():
if ev.type != ecodes.EV_KEY: if ev.type != ecodes.EV_KEY:
@@ -209,6 +225,13 @@ def start_pedal_listener(events: dict):
if key.keystate != 1: if key.keystate != 1:
continue continue
if events["in_reset"]:
# During reset: either pedal starts next episode
if code in [KEY_LEFT, KEY_RIGHT]:
print("\n[Pedal] Starting next episode...")
events["start_next_episode"] = True
else:
# During episode
if code == KEY_RIGHT: if code == KEY_RIGHT:
# Right pedal: SPACE (pause) when running, → (next) when in correction # Right pedal: SPACE (pause) when running, → (next) when in correction
if events["correction_active"]: if events["correction_active"]:
@@ -370,10 +393,15 @@ def reset_loop(
teleop: Teleoperator, teleop: Teleoperator,
events: dict, events: dict,
fps: int, fps: int,
reset_time_s: float,
): ):
"""Reset period where human repositions environment.""" """Reset period where human repositions environment. Waits for user to start next episode."""
print(f"\n[RaC] Reset time: {reset_time_s}s - reposition environment") print("\n" + "=" * 65)
print(" [RaC] RESET - Move robot to starting position")
print("=" * 65)
# Enter reset mode
events["in_reset"] = True
events["start_next_episode"] = False
# Move teleop to match robot position to avoid sudden jumps # Move teleop to match robot position to avoid sudden jumps
obs = robot.get_observation() obs = robot.get_observation()
@@ -382,12 +410,12 @@ def reset_loop(
teleop.smooth_move_to(robot_pos, duration_s=2.0, fps=50) teleop.smooth_move_to(robot_pos, duration_s=2.0, fps=50)
teleop.disable_torque() teleop.disable_torque()
print(" Teleop active - move leader arms to home position") print(" Teleop active - move robot to starting position")
print(" Press SPACE / → / 'c' or any pedal to start next episode")
print("=" * 65)
timestamp = 0 # Wait for user to signal ready for next episode
start_t = time.perf_counter() while not events["start_next_episode"] and not events["stop_recording"]:
while timestamp < reset_time_s and not events["exit_early"]:
loop_start = time.perf_counter() loop_start = time.perf_counter()
action = teleop.get_action() action = teleop.get_action()
@@ -395,7 +423,13 @@ def reset_loop(
dt = time.perf_counter() - loop_start dt = time.perf_counter() - loop_start
precise_sleep(1 / fps - dt) precise_sleep(1 / fps - dt)
timestamp = time.perf_counter() - start_t
# Exit reset mode and clear flags for next episode
events["in_reset"] = False
events["start_next_episode"] = False
events["exit_early"] = False
events["policy_paused"] = False
events["correction_active"] = False
@parser.wrap() @parser.wrap()
@@ -520,7 +554,6 @@ def rac_collect(cfg: RaCConfig) -> LeRobotDataset:
teleop=teleop, teleop=teleop,
events=events, events=events,
fps=cfg.dataset.fps, fps=cfg.dataset.fps,
reset_time_s=cfg.dataset.reset_time_s,
) )
finally: finally:
examples/rac/rac_data_collection_openarms.py
+45 -13
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@@ -139,6 +139,8 @@ def init_rac_keyboard_listener():
"stop_recording": False, "stop_recording": False,
"policy_paused": False, # SPACE pressed - policy paused, teleop tracking robot "policy_paused": False, # SPACE pressed - policy paused, teleop tracking robot
"correction_active": False, # 'c' pressed - human controlling, recording correction "correction_active": False, # 'c' pressed - human controlling, recording correction
"in_reset": False, # True during reset period
"start_next_episode": False, # Signal to start next episode
} }
if is_headless(): if is_headless():
@@ -149,6 +151,20 @@ def init_rac_keyboard_listener():
def on_press(key): def on_press(key):
try: try:
if events["in_reset"]:
# During reset: any action key starts next episode
if key == keyboard.Key.space or key == keyboard.Key.right:
print("\n[RaC] Starting next episode...")
events["start_next_episode"] = True
elif hasattr(key, 'char') and key.char == 'c':
print("\n[RaC] Starting next episode...")
events["start_next_episode"] = True
elif key == keyboard.Key.esc:
print("[RaC] ESC - Stop recording, pushing to hub...")
events["stop_recording"] = True
events["start_next_episode"] = True
else:
# During episode
if key == keyboard.Key.space: if key == keyboard.Key.space:
if not events["policy_paused"] and not events["correction_active"]: if not events["policy_paused"] and not events["correction_active"]:
print("\n[RaC] ⏸ PAUSED - Policy stopped, teleop tracking robot") print("\n[RaC] ⏸ PAUSED - Policy stopped, teleop tracking robot")
@@ -192,14 +208,14 @@ def start_pedal_listener(events: dict):
return return
PEDAL_DEVICE = "/dev/input/by-id/usb-PCsensor_FootSwitch-event-kbd" PEDAL_DEVICE = "/dev/input/by-id/usb-PCsensor_FootSwitch-event-kbd"
KEY_LEFT = "KEY_A" # Left pedal -> 'c' (take control) KEY_LEFT = "KEY_A" # Left pedal
KEY_RIGHT = "KEY_C" # Right pedal -> SPACE (pause) or → (next) KEY_RIGHT = "KEY_C" # Right pedal
def pedal_reader(): def pedal_reader():
try: try:
dev = InputDevice(PEDAL_DEVICE) dev = InputDevice(PEDAL_DEVICE)
print(f"[Pedal] Connected: {dev.name}") print(f"[Pedal] Connected: {dev.name}")
print(f"[Pedal] Right={KEY_RIGHT} (pause/next), Left={KEY_LEFT} (take control)") print(f"[Pedal] Right=pause/next, Left=take control/start")
for ev in dev.read_loop(): for ev in dev.read_loop():
if ev.type != ecodes.EV_KEY: if ev.type != ecodes.EV_KEY:
@@ -215,6 +231,13 @@ def start_pedal_listener(events: dict):
if key.keystate != 1: if key.keystate != 1:
continue continue
if events["in_reset"]:
# During reset: either pedal starts next episode
if code in [KEY_LEFT, KEY_RIGHT]:
print("\n[Pedal] Starting next episode...")
events["start_next_episode"] = True
else:
# During episode
if code == KEY_RIGHT: if code == KEY_RIGHT:
# Right pedal: SPACE (pause) when running, → (next) when in correction # Right pedal: SPACE (pause) when running, → (next) when in correction
if events["correction_active"]: if events["correction_active"]:
@@ -402,10 +425,15 @@ def reset_loop(
teleop: Teleoperator, teleop: Teleoperator,
events: dict, events: dict,
fps: int, fps: int,
reset_time_s: float,
): ):
"""Reset period where human repositions environment.""" """Reset period where human repositions environment. Waits for user to start next episode."""
print(f"\n[RaC] Reset time: {reset_time_s}s - reposition environment") print("\n" + "=" * 65)
print(" [RaC] RESET - Move robot to starting position")
print("=" * 65)
# Enter reset mode
events["in_reset"] = True
events["start_next_episode"] = False
# First move teleop to match robot position to avoid sudden jumps # First move teleop to match robot position to avoid sudden jumps
obs = robot.get_observation() obs = robot.get_observation()
@@ -413,12 +441,11 @@ def reset_loop(
print(" Moving teleop to robot position...") print(" Moving teleop to robot position...")
teleop.smooth_move_to(robot_pos, duration_s=2.0, fps=50) teleop.smooth_move_to(robot_pos, duration_s=2.0, fps=50)
teleop.disable_torque() teleop.disable_torque()
print(" Teleop active - move leader arms to home position") print(" Teleop active - move robot to starting position")
print(" Press SPACE / → / 'c' or any pedal to start next episode")
timestamp = 0 # Wait for user to signal ready for next episode
start_t = time.perf_counter() while not events["start_next_episode"] and not events["stop_recording"]:
while timestamp < reset_time_s and not events["exit_early"]:
loop_start = time.perf_counter() loop_start = time.perf_counter()
action = teleop.get_action() action = teleop.get_action()
@@ -430,7 +457,13 @@ def reset_loop(
dt = time.perf_counter() - loop_start dt = time.perf_counter() - loop_start
precise_sleep(1 / fps - dt) precise_sleep(1 / fps - dt)
timestamp = time.perf_counter() - start_t
# Exit reset mode and clear flags for next episode
events["in_reset"] = False
events["start_next_episode"] = False
events["exit_early"] = False
events["policy_paused"] = False
events["correction_active"] = False
@parser.wrap() @parser.wrap()
@@ -555,7 +588,6 @@ def rac_collect(cfg: RaCConfig) -> LeRobotDataset:
teleop=teleop, teleop=teleop,
events=events, events=events,
fps=cfg.dataset.fps, fps=cfg.dataset.fps,
reset_time_s=cfg.dataset.reset_time_s,
) )
finally: finally: