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Move robot to zero before begin episode

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This commit is contained in:
Pepijn
2026-01-02 10:52:48 +01:00
parent 20f0381f81
commit c76bc4cdea
2 changed files with 35 additions and 0 deletions
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examples/rac/rac_data_collection.py
+17
View File
@@ -280,6 +280,21 @@ def make_identity_processors():
return teleop_proc, robot_proc, obs_proc
def move_robot_to_zero(robot: Robot, duration_s: float = 2.0, fps: int = 50):
"""Smoothly move all robot joints 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 position ({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)
print("[RaC] Robot at zero position.")
@safe_stop_image_writer
def rac_rollout_loop(
robot: Robot,
@@ -546,6 +561,8 @@ def rac_collect(cfg: RaCConfig) -> LeRobotDataset:
recorded = 0
while recorded < cfg.dataset.num_episodes and not events["stop_recording"]:
log_say(f"RaC episode {dataset.num_episodes}", cfg.play_sounds)
move_robot_to_zero(robot, duration_s=2.0, fps=cfg.dataset.fps)
stats = rac_rollout_loop(
robot=robot,
examples/rac/rac_data_collection_openarms.py
+18
View File
@@ -286,6 +286,22 @@ def make_identity_processors():
return teleop_proc, robot_proc, obs_proc
def move_robot_to_zero(robot: Robot, duration_s: float = 2.0, fps: int = 50):
"""Smoothly move all robot joints 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 position ({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)
print("[RaC] Robot at zero position.")
@safe_stop_image_writer
def rac_rollout_loop(
robot: Robot,
@@ -567,6 +583,8 @@ def rac_collect(cfg: RaCConfig) -> LeRobotDataset:
recorded = 0
while recorded < cfg.dataset.num_episodes and not events["stop_recording"]:
log_say(f"RaC episode {dataset.num_episodes}", cfg.play_sounds)
move_robot_to_zero(robot, duration_s=2.0, fps=cfg.dataset.fps)
stats = rac_rollout_loop(
robot=robot,