Skip to content

Latest commit

 

History

History
37 lines (25 loc) · 1.27 KB

debug.md

File metadata and controls

37 lines (25 loc) · 1.27 KB
Raw

Debug

Apps for Debugging

  • Test Timing - Test the timing of the robot's control loop over the network.
  • Camera Info - Print out camera information.

Test Timing

Test the timing of the robot's control loop over the network. This will print out the time it takes to send a command to the robot and receive a response. It will show a histogram after a fixed number of iterations given by the --iterations flag (default is 500).

python -m stretch.app.timing --robot_ip $ROBOT_IP

# Headless mode - no display
python -m stretch.app.timing --headless

# Set the number of iterations per histogram to 1000
python -m stretch.app.timing --iterations 1000

Camera Info

Print out information about the cameras on the robot for debugging purposes:

python -m stretch.app.debug.camera_info --robot_ip $ROBOT_IP

This will print out information about the resolutions of different images sent by the robot's cameras, and should show something like this:

---------------------- Camera Info ----------------------
Servo Head RGB shape: (320, 240, 3) Servo Head Depth shape: (320, 240)
Servo EE RGB shape: (240, 320, 3) Servo EE Depth shape: (240, 320)
Observation RGB shape: (640, 480, 3) Observation Depth shape: (640, 480)