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refactor(viz): split files + autoplay + updated docs + added minimal tests

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This commit is contained in:
Steven Palma
2026-07-01 13:42:37 +02:00
parent a33b165b12
commit eab78d882b
9 changed files with 1246 additions and 1011 deletions
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docs/source/il_robots.mdx
+5 -5
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@@ -126,7 +126,7 @@ import time
from lerobot.teleoperators.so_leader import SO101Leader, SO101LeaderConfig
from lerobot.robots.so_follower import SO101Follower, SO101FollowerConfig
from lerobot.cameras.opencv import OpenCVCameraConfig
from lerobot.utils.visualization_utils import init_rerun, log_rerun_data, shutdown_rerun
from lerobot.utils.visualization_utils import init_visualization, log_visualization_data, shutdown_visualization
robot_config = SO101FollowerConfig(
port="/dev/tty.usbmodem5AB90687491",
@@ -142,7 +142,7 @@ teleop_config = SO101LeaderConfig(
id="my_leader_arm",
)
init_rerun(session_name="teleoperation")
init_visualization("rerun", session_name="teleoperation") # pass "foxglove" to stream to Foxglove instead
robot = SO101Follower(robot_config)
teleop_device = SO101Leader(teleop_config)
@@ -158,7 +158,7 @@ while True:
observation = robot.get_observation()
action = teleop_device.get_action()
robot.send_action(action)
log_rerun_data(observation=observation, action=action)
log_visualization_data("rerun", observation=observation, action=action)
elapsed_time = time.perf_counter() - start_time
sleep_time = TIME_PER_FRAME - elapsed_time
@@ -223,7 +223,7 @@ from lerobot.teleoperators.so_leader.config_so_leader import SO101LeaderConfig
from lerobot.teleoperators.so_leader.so_leader import SO101Leader
from lerobot.common.control_utils import init_keyboard_listener
from lerobot.utils.utils import log_say
from lerobot.utils.visualization_utils import init_rerun
from lerobot.utils.visualization_utils import init_visualization
from lerobot.scripts.lerobot_record import record_loop
from lerobot.processor import make_default_processors
@@ -270,7 +270,7 @@ def main():
# Initialize the keyboard listener and rerun visualization
_, events = init_keyboard_listener()
init_rerun(session_name="recording")
init_visualization("rerun", session_name="recording")
# Connect the robot and teleoperator
robot.connect()