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This commit is contained in:
Pepijn
2026-01-09 15:58:37 +01:00
parent 4166eeb7da
commit ccced0c9fc
1 changed files with 11 additions and 5 deletions
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examples/rac/rac_data_collection_openarms_rtc.py
+11 -5
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@@ -264,7 +264,7 @@ def get_actions_thread(
policy_active: Event,
fps: int,
):
"""Thread for async action generation via RTC."""
"""Thread for async action generation via RTC. Only this thread reads from robot."""
try:
logger.info("[GET_ACTIONS] Starting RTC action generation thread")
@@ -387,8 +387,13 @@ def main(cfg: RaCRTCConfig):
follower = make_robot_from_config(cfg.robot)
follower.connect()
time.sleep(1)
robot = RobotWrapper(follower)
logger.info("Robot connected")
# Test robot communication
test_obs = robot.get_observation()
logger.info(f"Robot test read OK, got {len([k for k in test_obs if k.endswith('.pos')])} motor positions")
teleop = make_teleoperator_from_config(cfg.teleop)
teleop.connect()
@@ -484,6 +489,7 @@ def main(cfg: RaCRTCConfig):
last_hz_print = time.perf_counter()
policy_active.set()
time.sleep(0.2) # Let RTC thread warm up
episode_start = time.perf_counter()
while (time.perf_counter() - episode_start) < cfg.dataset.episode_time_s:
@@ -494,6 +500,7 @@ def main(cfg: RaCRTCConfig):
if events["start_correction"] and not events["correction_active"]:
policy_active.clear()
time.sleep(0.1) # Let RTC thread stop
print("[RaC] Moving teleop to robot position...")
obs = robot.get_observation()
robot_pos = {k: v for k, v in obs.items() if k.endswith(".pos") and k in robot.observation_features}
@@ -504,7 +511,7 @@ def main(cfg: RaCRTCConfig):
print("[RaC] Correction mode - you have control")
if events["correction_active"]:
# Human controlling - read obs and record
# Human controlling - RTC thread is paused, we read robot directly
obs = robot.get_observation()
obs_filtered = {k: v for k, v in obs.items() if k in robot.observation_features}
obs_frame = build_dataset_frame(dataset_features, obs_filtered, prefix="observation")
@@ -520,11 +527,10 @@ def main(cfg: RaCRTCConfig):
frame_buffer.append(frame)
elif events["policy_paused"]:
# Paused - don't touch robot, RTC thread is also paused
pass
else:
# Policy running - RTC thread handles observations, we execute actions and record
# Policy running - RTC thread reads robot, we use shared observation
if interp_idx >= len(interpolated_actions):
new_action = action_queue.get()
if new_action is not None:
@@ -553,7 +559,7 @@ def main(cfg: RaCRTCConfig):
robot.send_action(action_processed)
robot_send_count += 1
# Record frame using observation from RTC thread
# Record using observation from RTC thread
if obs_holder["obs"] is not None:
obs_frame = build_dataset_frame(dataset_features, obs_holder["obs"], prefix="observation")
action_frame = build_dataset_frame(dataset_features, action_dict, prefix="action")