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Add teleoperate

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Simon Alibert
2025-05-08 13:13:02 +02:00
parent 2e705ff554
commit 237b14a6ec
2 changed files with 118 additions and 0 deletions
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12
lerobot/common/utils/visualization_utils.py Normal file
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import os
import rerun as rr
def _init_rerun(session_name: str = "lerobot_control_loop") -> None:
"""Initializes the Rerun SDK for visualizing the control loop."""
batch_size = os.getenv("RERUN_FLUSH_NUM_BYTES", "8000")
os.environ["RERUN_FLUSH_NUM_BYTES"] = batch_size
rr.init(session_name)
memory_limit = os.getenv("LEROBOT_RERUN_MEMORY_LIMIT", "10%")
rr.spawn(memory_limit=memory_limit)