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fix direction and encoding

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This commit is contained in:
Pepijn
2026-01-01 16:37:11 +01:00
parent aba42c805f
commit dfd229ae4f
3 changed files with 5 additions and 42 deletions
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examples/rac/rac_data_collection_openarms.py
+1 -4
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@@ -275,10 +275,7 @@ def rac_rollout_loop(
if events["correction_active"]:
# Human controlling - record correction data with soft gains
robot_action = teleop.get_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)
robot.send_action(robot_action)
stats["correction_frames"] += 1
# Record this frame