2025-05-13 17:38:39 +02:00
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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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2025-05-08 13:13:02 +02:00
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import os
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import rerun as rr
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def _init_rerun(session_name: str = "lerobot_control_loop") -> None:
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"""Initializes the Rerun SDK for visualizing the control loop."""
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batch_size = os.getenv("RERUN_FLUSH_NUM_BYTES", "8000")
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os.environ["RERUN_FLUSH_NUM_BYTES"] = batch_size
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rr.init(session_name)
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memory_limit = os.getenv("LEROBOT_RERUN_MEMORY_LIMIT", "10%")
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rr.spawn(memory_limit=memory_limit)
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