debug

examples/rac/rac_data_collection_openarms_rtc.py

@@ -356,28 +356,36 @@ def rtc_inference_thread(
         get_actions_threshold = 0
     
     inference_count = 0
+    wait_logged = False
     
     while not shutdown_event.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)
             continue
         
+        wait_logged = False
+        
         action_queue = queue_holder["queue"]
         if action_queue is None:
+            logger.warning("[RTC] queue_holder['queue'] is None!")
             time.sleep(0.01)
             continue
         
         # Get observation from shared holder (set by main loop)
         obs_filtered = obs_holder.get("obs")
         if obs_filtered is None:
-            if inference_count == 0:
-                logger.warning("[RTC] Waiting for observation from main loop...")
+            logger.warning("[RTC] obs_holder['obs'] is None - main loop not setting it?")
             time.sleep(0.01)
             continue
         
-        if action_queue.qsize() <= get_actions_threshold:
+        qsize = action_queue.qsize()
+        if qsize <= get_actions_threshold:
+            try:
                 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()
                 action_index_before_inference = action_queue.get_action_index()
                 prev_actions = action_queue.get_left_over()
@@ -427,6 +435,11 @@ def rtc_inference_thread(
                 
                 inference_count += 1
                 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:
             time.sleep(0.01)