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remove move to zero due to potential race condition

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This commit is contained in:
Pepijn
2026-01-09 13:56:16 +01:00
parent 9cc841c674
commit b16e2f25f7
2 changed files with 0 additions and 28 deletions
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examples/openarms/evaluate_with_rtc.py
-6
View File
@@ -372,12 +372,6 @@ def actor_thread(
prev_action = current_action prev_action = current_action
interp_idx = 0 interp_idx = 0
else:
# No action yet - hold current position while waiting for first inference
obs = robot.get_observation()
hold_pos = {k: v for k, v in obs.items() if k.endswith(".pos")}
robot.send_action(hold_pos)
robot_send_count += 1
if interp_idx < len(interpolated_actions): if interp_idx < len(interpolated_actions):
action_to_send = interpolated_actions[interp_idx] action_to_send = interpolated_actions[interp_idx]
examples/rac/rac_data_collection_openarms_rtc.py
-22
View File
@@ -348,21 +348,6 @@ def get_actions_thread(
sys.exit(1) sys.exit(1)
def move_robot_to_zero(robot, duration_s: float = 2.0, fps: int = 50):
"""Smoothly move robot to zero position."""
obs = robot.get_observation()
current_pos = {k: v for k, v in obs.items() if k.endswith(".pos")}
target_pos = {k: 0.0 for k in current_pos}
print(f"[RaC] Moving robot to zero ({duration_s}s)...")
steps = int(duration_s * fps)
for step in range(steps + 1):
t = step / steps
interp_pos = {k: current_pos[k] * (1 - t) + target_pos[k] * t for k in current_pos}
robot.send_action(interp_pos)
time.sleep(1 / fps)
@parser.wrap() @parser.wrap()
def main(cfg: RaCRTCConfig): def main(cfg: RaCRTCConfig):
"""Main RaC + RTC data collection.""" """Main RaC + RTC data collection."""
@@ -477,8 +462,6 @@ def main(cfg: RaCRTCConfig):
while recorded < cfg.dataset.num_episodes and not events["stop_recording"]: while recorded < cfg.dataset.num_episodes and not events["stop_recording"]:
log_say(f"RaC episode {recorded + 1}", play_sounds=cfg.play_sounds) log_say(f"RaC episode {recorded + 1}", play_sounds=cfg.play_sounds)
move_robot_to_zero(follower, duration_s=2.0)
action_queue = ActionQueue(cfg.rtc) action_queue = ActionQueue(cfg.rtc)
events["policy_paused"] = False events["policy_paused"] = False
events["correction_active"] = False events["correction_active"] = False
@@ -547,11 +530,6 @@ def main(cfg: RaCRTCConfig):
prev_action = current_action prev_action = current_action
interp_idx = 0 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): if interp_idx < len(interpolated_actions):
action_to_send = interpolated_actions[interp_idx] action_to_send = interpolated_actions[interp_idx]