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go2 replay realtime (arm64)
Details
| Benchmark suite | Current: b4fec03 | Previous: f9c5a5c | Ratio |
|---|---|---|---|
peak memory |
1796.73 MB |
1795.23 MB |
1.00 |
peak threads |
354 threads |
366 threads |
0.97 |
network (transport) |
2736.313 MB |
2730.945 MB |
1.00 |
disk write |
1.523 MB |
1.723 MB |
0.88 |
instructions |
137.331 G |
137.801 G |
1.00 |
This comment was automatically generated by workflow using github-action-benchmark.
Codecov Report✅ All modified and coverable lines are covered by tests. @@ Coverage Diff @@
## mustafa/feat/operator-ui-estop #4791 +/- ##
==================================================================
- Coverage 81.69% 81.68% -0.01%
==================================================================
Files 1702 1702
Lines 160592 160593 +1
Branches 13448 13448
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- Hits 131189 131177 -12
- Misses 25768 25776 +8
- Partials 3635 3640 +5
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hybrid-teleop-sim turns on the sim's ray-cast point cloud: 80 x 60 rays from the wrist camera at 5 Hz, points in the world frame, 1 cm voxels. The sim's pointcloud output is renamed to scene_pointcloud so it does not share a topic with ObjectSceneRegistrationModule's object clouds, and it goes to the browser as voxels.zlib.v1 (res 0.01, frame_id "world" for the page), about 0.5-0.7 KB per frame. web/hybrid-teleop gets a 3D view under the camera: voxel centres drawn as squares on a 2D canvas with a depth buffer, coloured by height, over a ground grid and the world axes. Drag turns the view, the wheel zooms, right or shift drag pans, and Reset view goes back to the start. project() and unproject() map between world points and canvas pixels. The status line shows voxel count, resolution, frame, fps and draw time.
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Stacks on #4790
Why do we need this?
The operator sees the scene in 3D in a fixed world frame; a later PR clicks a place point in it.
What is this feature?
A 3D point-cloud view on the operator page, under the camera.
hybrid-teleop-simturns on the sim's ray-cast cloud (world frame, 5 Hz, 1 cm voxels) asscene_pointcloud, sent asvoxels.zlib.v1. The page draws it on a plain canvas with a ground grid and world axes; turn, zoom, pan, Reset view. No external scripts.How to manually run this
dimos run hybrid-teleop-sim --serve-dir web/hybrid-teleop, then open http://localhost:7780.The cloud appears under the camera. Drag to turn, wheel to zoom, right or shift drag to pan, Reset view to go back. Moving the arm does not move the cloud.
Tested: live headless sim with a scripted browser: screenshots, frame size, draw time (about 1 ms; 50k synthetic voxels about 9 ms), and a check that moving the arm does not move the cloud.
Which issue(s) does this PR close?
None.
Checklist