From 374d4351fd25f632dfff382637fc4441d76ca83f Mon Sep 17 00:00:00 2001
From: Steven Palma <steven.palma@huggingface.co>
Date: Tue, 25 Mar 2025 13:02:11 +0100
Subject: [PATCH] chore(dummy): add comments + better visualization
---
lerobot/common/robots/dummy/dummy_app.py | 14 +++++++++++++-
1 file changed, 13 insertions(+), 1 deletion(-)
diff --git a/lerobot/common/robots/dummy/dummy_app.py b/lerobot/common/robots/dummy/dummy_app.py
index 88d0a882..dd689a2d 100755
--- a/lerobot/common/robots/dummy/dummy_app.py
+++ b/lerobot/common/robots/dummy/dummy_app.py
@@ -13,6 +13,7 @@
# limitations under the License.
import logging
+import time
import rerun as rr
@@ -21,6 +22,7 @@ from lerobot.common.robots.dummy.dummy import Dummy
from lerobot.common.teleoperators.so100 import SO100Teleop, SO100TeleopConfig
+# IMO, it's better to use rerun in the application code instead of the library code
def main():
logging.info("Configuring Devices")
leader_arm_config = SO100TeleopConfig(port="/dev/tty.usbmodem58760434171")
@@ -36,17 +38,27 @@ def main():
robot.connect()
rr.init("rerun_dummy_data")
- rr.spawn(memory_limit="50%") # add a bluprint config
+ # If data source and visualizer are in different host, use .connect() instead to establish a tcp connection
+ # We can define a custom blueprint configuration for the visualizer panels
+ # Memory limit will make sure no more than 5% of the memory is used by the visualizer
+ rr.spawn(memory_limit="5%")
+
logging.info("Starting...")
i = 0
while i < 10000:
+ # An alternative would be do rerun log inside of these methods. But then that means embedding rerun into the library
arm_action = leader_arm.get_action()
observation = robot.get_observation()
for j in range(arm_action.size):
+ # If you want to disable batching we can do it: export RERUN_FLUSH_NUM_BYTES=256
+ current_time = time.time()
+ rr.set_time_seconds(f"arm_action_{j}", current_time)
rr.log(f"arm_action_{j}", rr.Scalar(arm_action[j]))
for k, v in observation.items():
+ # This discards all previous image frames
+ rr.set_time_seconds(k, 0.0)
rr.log(k, rr.Image(v))
i += 1