4-Camera Real-time Display

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1. 4-Camera Real-time Display

The Walker S2 simulator supports real-time preview from four RGB cameras. The HeadStereoVisualizer class displays the head stereo cameras side by side. This feature is available in four modes: teleoperation, recording, replay, and inference.

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1.1 Camera Configuration Arguments

Argument	Description	Default
--robot.head_viz_enabled	Enable head camera visualization	true
--robot.head_viz_window_name	Visualization window name	"walker_s2_cameras"
--robot.head_viz_scale	Window scale	1.0
--robot.head_viz_every_n	Update display every N frames	10
--robot.head_viz_window_x	Window X position	40
--robot.head_viz_window_y	Window Y position	40
--robot.head_viz_show_labels	Show camera labels	true
--display_data	Print data in the terminal	false

Notes:

• head_viz_enabled: controls whether the head camera visualization window is enabled
• head_viz_every_n: controls the visualization refresh rate; a larger value can reduce CPU load
• display_data: controls whether to print joint-state data to the terminal

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1.2 Camera Names and Positions

Camera	Position	Purpose
head_left	Left side of the head	Front wide-angle
head_right	Right side of the head	Front wide-angle
wrist_left	Left wrist	Hand-eye camera
wrist_right	Right wrist	Hand-eye camera

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1.3 Visualization Window Layout

┌─────────────────────────────────────────┐
│        walker_s2_cameras                │
├─────────────────────┬───────────────────┤
│                     │                   │
│     head_left       │    head_right     │
│                     │                   │
├─────────────────────┴───────────────────┤
│     wrist_left      │    wrist_right    │
└─────────────────────────────────────────┘

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1.4 Example Commands in the Four Modes

Mode 1: Teleoperate

/isaac-sim/python.sh src/lerobot/scripts/lerobot_teleoperate.py \
    --robot.type=walker_s2_sim \
    --robot.headless=false \
    --task=Packing_Box \
    --teleop.type=walker_s2_keyboard \
    --robot.head_viz_enabled=true \
    --robot.head_viz_window_name="walker_s2_cameras" \
    --robot.head_viz_every_n=1 \
    --display_data=false

Mode 2: Record

/isaac-sim/python.sh src/lerobot/scripts/lerobot_record.py \
    --robot.type=walker_s2_sim \
    --robot.headless=false \
    --task=Packing_Box \
    --teleop.type=walker_s2_keyboard \
    --dataset.root=./datasets/packing_box \
    --dataset.num_episodes=10 \
    --dataset.single_task="Packing box task" \
    --dataset.video=true \
    --robot.head_viz_enabled=true \
    --robot.head_viz_every_n=10 \
    --display_data=false \
    --play_sounds=false

Mode 3: Replay

/isaac-sim/python.sh src/lerobot/scripts/lerobot_replay.py \
    --robot.type=walker_s2_sim \
    --task=Packing_Box \
    --dataset.root=./datasets/packing_box \
    --dataset.episode=0 \
    --robot.head_viz_enabled=true \
    --robot.head_viz_every_n=5 \
    --display_data=false \
    --play_sounds=false

Mode 4: Inference

/isaac-sim/python.sh src/lerobot/scripts/lerobot_record.py \
    --robot.type=walker_s2_sim \
    --robot.headless=false \
    --task=Packing_Box \
    --policy.path=your_checkpoint_dir \
    --dataset.root=./datasets/packing_box/inference \
    --dataset.num_episodes=10 \
    --dataset.video=true \
    --robot.head_viz_enabled=true \
    --robot.head_viz_every_n=5 \
    --display_data=false \
    --play_sounds=false