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fix(visualization): init & log also for lekiwi remote robot

This commit is contained in:
Steven Palma 2025-03-27 14:15:49 +01:00
parent d2ddbd1c47
commit 9a22c9834d
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3 changed files with 7 additions and 2 deletions
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2
lerobot/common/robot_devices/control_configs.py
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@ -116,6 +116,8 @@ class ReplayControlConfig(ControlConfig):
@dataclass @dataclass
class RemoteRobotConfig(ControlConfig): class RemoteRobotConfig(ControlConfig):
log_interval: int = 100 log_interval: int = 100
# Display all cameras on screen
display_data: bool = False
@dataclass @dataclass

3
lerobot/common/robot_devices/control_utils.py
View File

@ -264,7 +264,8 @@ def control_loop(
frame = {**observation, **action, "task": single_task} frame = {**observation, **action, "task": single_task}
dataset.add_frame(frame) dataset.add_frame(frame)
if display_data and not is_headless(): # TODO(Steven): This should be more general (for RemoteRobot instead of checking the name, but anyways it will change soon)
if (display_data and not is_headless()) or (display_data and robot.robot_type.startswith("lekiwi")):
for k, v in action.items(): for k, v in action.items():
for i, vv in enumerate(v): for i, vv in enumerate(v):
rr.log(f"sent_{k}_{i}", rr.Scalar(vv.numpy())) rr.log(f"sent_{k}_{i}", rr.Scalar(vv.numpy()))

4
lerobot/scripts/control_robot.py
View File

@ -378,7 +378,9 @@ def _init_rerun(control_config: ControlConfig, session_name: str = "lerobot_cont
Raises: Raises:
ValueError: If viewer IP is missing for non-remote configurations with display enabled. ValueError: If viewer IP is missing for non-remote configurations with display enabled.
""" """
if control_config.display_data and not is_headless(): if (control_config.display_data and not is_headless()) or (
control_config.display_data and isinstance(control_config, RemoteRobotConfig)
):
# Configure Rerun flush batch size # Configure Rerun flush batch size
batch_size = os.getenv("RERUN_FLUSH_NUM_BYTES", "8000") batch_size = os.getenv("RERUN_FLUSH_NUM_BYTES", "8000")
os.environ["RERUN_FLUSH_NUM_BYTES"] = batch_size os.environ["RERUN_FLUSH_NUM_BYTES"] = batch_size