Four-Camera Real-Time Display

The Walker S2 simulator supports real-time previews from four RGB cameras. The HeadStereoVisualizer class displays the two head-camera feeds side by side. Camera visualization is available in teleoperation, data collection, replay, and inference modes.

1. Camera Configuration

Parameter	Description	Default
--robot.head_viz_enabled	Enables camera visualization	true
--robot.head_viz_window_name	Sets the visualization window title	"walker_s2_cameras"
--robot.head_viz_scale	Sets the window scale factor	1.0
--robot.head_viz_every_n	Refreshes the display every N frames	10
--robot.head_viz_window_x	Sets the window's X-coordinate	40
--robot.head_viz_window_y	Sets the window's Y-coordinate	40
--robot.head_viz_show_labels	Shows camera labels	true
--display_data	Prints data in the terminal	false

Parameter details:

• head_viz_enabled: Controls whether the camera visualization window is enabled.
• head_viz_every_n: Controls the visualization refresh rate. A larger value can reduce CPU usage.
• display_data: Controls whether joint-state data is printed in the terminal.

2. Camera Names and Locations

Camera	Location	Purpose
head_left	Left side of the head	Forward-facing wide-angle view
head_right	Right side of the head	Forward-facing wide-angle view
wrist_left	Left wrist	Eye-in-hand view
wrist_right	Right wrist	Eye-in-hand view

3. Visualization Window Layout

+-----------------------------------------+
|             walker_s2_cameras           |
+--------------------+--------------------+
|                    |                    |
|     head_left      |     head_right     |
|                    |                    |
+--------------------+--------------------+
|     wrist_left     |     wrist_right    |
+--------------------+--------------------+

4. Example Commands

4.1 Teleoperation

/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

4.2 Data Collection

/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

4.3 Data 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

4.4 Policy 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