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use robot_action

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Pepijn
2025-12-30 12:04:30 +01:00
parent 1716d599c1
commit a97255e3d1
1 changed files with 2 additions and 2 deletions
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examples/rac/rac_data_collection_openarms.py
+2 -2
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@@ -278,13 +278,13 @@ def rac_rollout_loop(
robot.send_action(robot_action) robot.send_action(robot_action)
action_frame = build_dataset_frame(dataset.features, action_values, prefix=ACTION) action_frame = build_dataset_frame(dataset.features, robot_action, prefix=ACTION)
frame = {**obs_frame, **action_frame, "task": single_task} frame = {**obs_frame, **action_frame, "task": single_task}
frame_buffer.append(frame) frame_buffer.append(frame)
stats["total_frames"] += 1 stats["total_frames"] += 1
if display_data: if display_data:
log_rerun_data(observation=obs_filtered, action=action_values) log_rerun_data(observation=obs_filtered, action=robot_action)
dt = time.perf_counter() - loop_start dt = time.perf_counter() - loop_start
precise_sleep(1 / fps - dt) precise_sleep(1 / fps - dt)