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some changes to smooth

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This commit is contained in:
Pepijn
2025-12-31 15:16:23 +01:00
parent 8b6b41f8dc
commit aba42c805f
2 changed files with 115 additions and 14 deletions
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examples/rac/rac_data_collection_openarms.py
+12 -4
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@@ -253,9 +253,14 @@ def rac_rollout_loop(
events["correction_active"] = False
break
# Detect transition to paused state (enable torque to track robot)
# Detect transition to paused state - smooth move teleop to robot position
if events["policy_paused"] and not was_paused:
teleop.enable_torque()
obs = robot.get_observation()
obs_filtered = {k: v for k, v in obs.items() if k in robot.observation_features}
robot_pos = {k: v for k, v in obs_filtered.items() if k.endswith(".pos")}
print("[RaC] Moving teleop to robot position (1s smooth transition)...")
teleop.smooth_move_to(robot_pos, duration_s=1.0, fps=50)
print("[RaC] Teleop aligned. Press 'c' to take control.")
was_paused = True
# Detect transition to correction mode (disable torque for human control)
@@ -268,9 +273,12 @@ def rac_rollout_loop(
obs_frame = build_dataset_frame(dataset.features, obs_filtered, prefix=OBS_STR)
if events["correction_active"]:
# Human controlling - record correction data
# Human controlling - record correction data with soft gains
robot_action = teleop.get_action()
robot.send_action(robot_action)
# Use lower gains for smoother human control
soft_kp = {k.removesuffix(".pos"): 60.0 for k in robot_action if k.endswith(".pos")}
soft_kd = {k.removesuffix(".pos"): 1.5 for k in robot_action if k.endswith(".pos")}
robot.send_action(robot_action, custom_kp=soft_kp, custom_kd=soft_kd)
stats["correction_frames"] += 1
# Record this frame