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This commit is contained in:
Pepijn
2026-01-09 16:54:11 +01:00
parent 480ee3299f
commit feedababd2
1 changed files with 67 additions and 54 deletions
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examples/rac/rac_data_collection_openarms_rtc.py
+17 -4
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@@ -356,28 +356,36 @@ def rtc_inference_thread(
get_actions_threshold = 0 get_actions_threshold = 0
inference_count = 0 inference_count = 0
wait_logged = False
while not shutdown_event.is_set(): while not shutdown_event.is_set():
if not policy_active.is_set(): if not policy_active.is_set():
if not wait_logged:
logger.info("[RTC] Waiting for policy_active...")
wait_logged = True
time.sleep(0.01) time.sleep(0.01)
continue continue
wait_logged = False
action_queue = queue_holder["queue"] action_queue = queue_holder["queue"]
if action_queue is None: if action_queue is None:
logger.warning("[RTC] queue_holder['queue'] is None!")
time.sleep(0.01) time.sleep(0.01)
continue continue
# Get observation from shared holder (set by main loop) # Get observation from shared holder (set by main loop)
obs_filtered = obs_holder.get("obs") obs_filtered = obs_holder.get("obs")
if obs_filtered is None: if obs_filtered is None:
if inference_count == 0: logger.warning("[RTC] obs_holder['obs'] is None - main loop not setting it?")
logger.warning("[RTC] Waiting for observation from main loop...")
time.sleep(0.01) time.sleep(0.01)
continue continue
if action_queue.qsize() <= get_actions_threshold: qsize = action_queue.qsize()
if qsize <= get_actions_threshold:
try:
if inference_count == 0: if inference_count == 0:
logger.info(f"[RTC] Starting first inference, obs has {len(obs_filtered)} keys") logger.info(f"[RTC] Starting first inference, obs has {len(obs_filtered)} keys, qsize={qsize}, threshold={get_actions_threshold}")
current_time = time.perf_counter() current_time = time.perf_counter()
action_index_before_inference = action_queue.get_action_index() action_index_before_inference = action_queue.get_action_index()
prev_actions = action_queue.get_left_over() prev_actions = action_queue.get_left_over()
@@ -427,6 +435,11 @@ def rtc_inference_thread(
inference_count += 1 inference_count += 1
logger.info(f"[RTC] Inference #{inference_count}, latency={new_latency:.2f}s, queue={action_queue.qsize()}, shape={postprocessed_actions.shape}") logger.info(f"[RTC] Inference #{inference_count}, latency={new_latency:.2f}s, queue={action_queue.qsize()}, shape={postprocessed_actions.shape}")
except Exception as e:
logger.error(f"[RTC] Inference failed: {e}")
import traceback
traceback.print_exc()
time.sleep(1.0) # Don't spam errors
else: else:
time.sleep(0.01) time.sleep(0.01)