Add teleoperate

lerobot/common/utils/visualization_utils.py

@@ -0,0 +1,12 @@
+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)