[update] 1. Data recording using multithreading (.json not yet implemented) 2. Optimize rerun (not fully implemented yet).

.gitignore

@@ -19,5 +19,4 @@ __MACOSX/
 !real_right_hand.jpg
 !wrist_and_ring_mount.png
 teleop/data/
-teleop/utils/episode_0*
-teleop/utils/data/episode_0*
+episode_0*

teleop/open_television/tv_wrapper.py

@@ -139,8 +139,8 @@ class TeleVisionWrapper:
         head_rmat = head_mat[:3, :3]
         # The origin of the coordinate for IK Solve is the WAIST joint motor. You can use teleop/robot_control/robot_arm_ik.py Unit_Test to check it.
         # The origin of the coordinate of unitree_left_wrist is HEAD. So it is necessary to translate the origin of unitree_left_wrist from HEAD to WAIST.
-        unitree_left_wrist[0, 3] +=0.20
-        unitree_right_wrist[0,3] +=0.20
+        unitree_left_wrist[0, 3] +=0.15
+        unitree_right_wrist[0,3] +=0.15
         unitree_left_wrist[2, 3] +=0.45
         unitree_right_wrist[2,3] +=0.45
 

teleop/robot_control/robot_arm.py

@@ -41,7 +41,7 @@ class G1_29_ArmController:
         self.q_target = np.zeros(14)
         self.tauff_target = np.zeros(14)
 
-        self.kp_high = 100.0
+        self.kp_high = 300.0
         self.kd_high = 3.0
         self.kp_low = 80.0
         self.kd_low = 3.0

teleop/robot_control/robot_hand_unitree.py

@@ -18,6 +18,7 @@ from multiprocessing import Process, shared_memory, Array, Lock
 parent2_dir = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
 sys.path.append(parent2_dir)
 from teleop.robot_control.hand_retargeting import HandRetargeting, HandType
+from teleop.utils.weighted_moving_filter import WeightedMovingFilter
 
 
 unitree_tip_indices = [4, 9, 14] # [thumb, index, middle] in OpenXR
@@ -228,7 +229,7 @@ kTopicGripperState = "rt/unitree_actuator/state"
 
 class Gripper_Controller:
     def __init__(self, left_hand_array, right_hand_array, dual_gripper_data_lock = None, dual_gripper_state_out = None, dual_gripper_action_out = None, 
-                       fps = 250.0, Unit_Test = False):
+                       filter = True, fps = 200.0, Unit_Test = False):
         """
         [note] A *_array type parameter requires using a multiprocessing Array, because it needs to be passed to the internal child process
 
@@ -251,6 +252,10 @@ class Gripper_Controller:
 
         self.fps = fps
         self.Unit_Test = Unit_Test
+        if filter:
+            self.smooth_filter = WeightedMovingFilter(np.array([0.5, 0.3, 0.2]), Gripper_Num_Motors)
+        else:
+            self.smooth_filter = None
 
         if self.Unit_Test:
             ChannelFactoryInitialize(0)
@@ -303,8 +308,8 @@ class Gripper_Controller:
         self.running = True
 
         DELTA_GRIPPER_CMD = 0.18         # The motor rotates 5.4 radians, the clamping jaw slide open 9 cm, so 0.6 rad <==> 1 cm, 0.18 rad <==> 3 mm
-        THUMB_INDEX_DISTANCE_MIN = 0.030 # Assuming a minimum Euclidean distance is  3 cm between thumb and index.
-        THUMB_INDEX_DISTANCE_MAX = 0.120 # Assuming a maximum Euclidean distance is 12 cm between thumb and index.
+        THUMB_INDEX_DISTANCE_MIN = 0.05  # Assuming a minimum Euclidean distance is 5 cm between thumb and index.
+        THUMB_INDEX_DISTANCE_MAX = 0.07  # Assuming a maximum Euclidean distance is 9 cm between thumb and index.
         LEFT_MAPPED_MIN  = 0.0           # The minimum initial motor position when the gripper closes at startup.
         RIGHT_MAPPED_MIN = 0.0           # The minimum initial motor position when the gripper closes at startup.
         # The maximum initial motor position when the gripper closes before calibration (with the rail stroke calculated as 0.6 cm/rad * 9 rad = 5.4 cm).
@@ -315,7 +320,7 @@ class Gripper_Controller:
 
         dq = 0.0
         tau = 0.0
-        kp = 5.0
+        kp = 5.00
         kd = 0.05
         # initialize gripper cmd msg
         self.gripper_msg  = MotorCmds_()
@@ -335,11 +340,11 @@ class Gripper_Controller:
 
                 if not np.all(left_hand_mat == 0.0): # if hand data has been initialized.
                     left_euclidean_distance  = np.linalg.norm(left_hand_mat[unitree_gripper_indices[1]] - left_hand_mat[unitree_gripper_indices[0]])
-                    right_euclidean_distance = np.linalg.norm(right_hand_mat[unitree_gripper_indices[1]] - left_hand_mat[unitree_gripper_indices[0]])
+                    right_euclidean_distance = np.linalg.norm(right_hand_mat[unitree_gripper_indices[1]] - right_hand_mat[unitree_gripper_indices[0]])
                     # Linear mapping from [0, THUMB_INDEX_DISTANCE_MAX] to gripper action range
                     left_target_action  = np.interp(left_euclidean_distance, [THUMB_INDEX_DISTANCE_MIN, THUMB_INDEX_DISTANCE_MAX], [LEFT_MAPPED_MIN, LEFT_MAPPED_MAX])
                     right_target_action = np.interp(right_euclidean_distance, [THUMB_INDEX_DISTANCE_MIN, THUMB_INDEX_DISTANCE_MAX], [RIGHT_MAPPED_MIN, RIGHT_MAPPED_MAX])
-                # else: # TEST WITHOUT APPLE VISION PRO
+                # else: # TEST WITHOUT XR DEVICE
                 #     current_time = time.time()
                 #     period = 2.5
                 #     import math
@@ -357,6 +362,10 @@ class Gripper_Controller:
 
                 dual_gripper_action = np.array([right_actual_action, left_actual_action])
 
+                if self.smooth_filter:
+                    self.smooth_filter.add_data(dual_gripper_action)
+                    dual_gripper_action = self.smooth_filter.filtered_data
+
                 if dual_gripper_state_out and dual_gripper_action_out:
                     with dual_hand_data_lock:
                         dual_gripper_state_out[:] = dual_gripper_state - np.array([RIGHT_MAPPED_MIN, LEFT_MAPPED_MIN])

teleop/teleop_hand_and_arm.py

@@ -97,7 +97,7 @@ if __name__ == '__main__':
         gripper_ctrl = Gripper_Controller(left_hand_array, right_hand_array, dual_gripper_data_lock, dual_gripper_state_array, dual_gripper_action_array)
     
     if args.record:
-        recorder = EpisodeWriter(task_dir = args.task_dir, frequency = args.frequency, log = True)
+        recorder = EpisodeWriter(task_dir = args.task_dir, frequency = args.frequency, rerun_log = True)
         
     try:
         user_input = input("Please enter the start signal (enter 'r' to start the subsequent program):\n")
@@ -156,10 +156,10 @@ if __name__ == '__main__':
                             right_hand_action = dual_hand_action_array[-7:]
                     else:
                         with dual_gripper_data_lock:
-                            left_hand_state = dual_gripper_state_array[1]
-                            right_hand_state = dual_gripper_state_array[0]
-                            left_hand_action = dual_gripper_action_array[1]
-                            right_hand_action = dual_gripper_action_array[0]
+                            left_hand_state = [dual_gripper_state_array[1]]
+                            right_hand_state = [dual_gripper_state_array[0]]
+                            left_hand_action = [dual_gripper_action_array[1]]
+                            right_hand_action = [dual_gripper_action_array[0]]
                     # head image
                     current_tv_image = tv_img_array.copy()
                     # wrist image
@@ -247,5 +247,6 @@ if __name__ == '__main__':
         if WRIST:
             wrist_img_shm.unlink()
             wrist_img_shm.close()
+        recorder.close()
         print("Finally, exiting program...")
         exit(0)

teleop/utils/episode_writer.py

@@ -5,10 +5,11 @@ import datetime
 import numpy as np
 import time
 from .rerun_visualizer import RerunLogger
-
+from queue import Queue, Empty
+from threading import Thread
 
 class EpisodeWriter():
-    def __init__(self, task_dir, frequency=30, image_size=[640, 480], log = False):
+    def __init__(self, task_dir, frequency=30, image_size=[640, 480], rerun_log = True):
         """
         image_size: [width, height]
         """
@@ -17,27 +18,39 @@ class EpisodeWriter():
         self.frequency = frequency
         self.image_size = image_size
 
+        self.rerun_log = rerun_log
+        if self.rerun_log:
+            print("==> RerunLogger initializing...\n")
+            self.rerun_logger = RerunLogger(prefix="online/", IdxRangeBoundary = 60, memory_limit = "300MB")
+            print("==> RerunLogger initializing ok.\n")
+        
         self.data = {}
         self.episode_data = []
         self.item_id = -1
         self.episode_id = -1
-        self.log = log
         if os.path.exists(self.task_dir):
             episode_dirs = [episode_dir for episode_dir in os.listdir(self.task_dir) if 'episode_' in episode_dir]
             episode_last = sorted(episode_dirs)[-1] if len(episode_dirs) > 0 else None
             self.episode_id = 0 if episode_last is None else int(episode_last.split('_')[-1])
-            print(f"==> task_dir directory already exist, now self.episode_id is：{self.episode_id}\n")
+            print(f"==> task_dir directory already exist, now self.episode_id is:{self.episode_id}\n")
         else:
             os.makedirs(self.task_dir)
             print(f"==> episode directory does not exist, now create one.\n")
         self.data_info()
         self.text_desc()
+
+        # Initialize the queue and worker thread
+        self.item_data_queue = Queue(maxsize=100)
+        self.stop_worker = False
+        self.worker_thread = Thread(target=self.process_queue)
+        self.worker_thread.start()
+
         print("==> EpisodeWriter initialized successfully.\n")
 
     def data_info(self, version='1.0.0', date=None, author=None):
         self.info = {
                 "version": "1.0.0" if version is None else version, 
-                "date": "" if date is None else datetime.date.today().strftime('%Y-%m-%d'), 
+                "date": datetime.date.today().strftime('%Y-%m-%d') if date is None else date,
                 "author": "unitree" if author is None else author,
                 "image": {"width":self.image_size[0], "height":self.image_size[1], "fps":self.frequency},
                 "depth": {"width":self.image_size[0], "height":self.image_size[1], "fps":self.frequency},
@@ -85,63 +98,91 @@ class EpisodeWriter():
         os.makedirs(self.color_dir, exist_ok=True)
         os.makedirs(self.depth_dir, exist_ok=True)
         os.makedirs(self.audio_dir, exist_ok=True)
-        if self.log:
-            self.online_logger = RerunLogger(prefix="online/", IdxRangeBoundary = 60)
+        if self.rerun_log:
+            self.online_logger = RerunLogger(prefix="online/", IdxRangeBoundary = 60, memory_limit="300MB")
         
     def add_item(self, colors, depths=None, states=None, actions=None, tactiles=None, audios=None):
+        # Increment the item ID
         self.item_id += 1
+        # Create the item data dictionary
         item_data = {
             'idx': self.item_id,
-            'colors': {"color_0": None},       
-            'depths': {"depth_0": None},
-            'states': {'left_arm':{}, 'right_arm':{}, 'left_hand':{}, 'right_hand':{}, 'body': {}},
-            'actions': {'left_arm':{}, 'right_arm':{}, 'left_hand':{}, 'right_hand':{}, 'body': {}},
-            'tactiles': {'left_hand':[], 'right_hand':[]},
-            'audios': { "mic0": None},
+            'colors': colors,
+            'depths': depths,
+            'states': states,
+            'actions': actions,
+            'tactiles': tactiles,
+            'audios': audios,
         }
-
-        # save images
-        if colors is not None:
-            for idx, (_, color) in enumerate(colors.items()):
-                color_key = f'color_{idx}'
-                color_name = f'{str(self.item_id).zfill(6)}_{color_key}.jpg'
-                cv2.imwrite(os.path.join(self.color_dir, color_name), color)
+        # Enqueue the item data
+        self.item_data_queue.put(item_data)
+
+    def process_queue(self):
+        while not self.stop_worker or not self.item_data_queue.empty():
+            try:
+                item_data = self.item_data_queue.get(timeout=1)
+                try:
+                    self._process_item_data(item_data)
+                except Exception as e:
+                    print(f"Error processing item_data (idx={item_data['idx']}): {e}")
+                self.item_data_queue.task_done()
+            except Empty:
+                continue
+
+    def _process_item_data(self, item_data):
+        idx = item_data['idx']
+        colors = item_data.get('colors', {})
+        depths = item_data.get('depths', {})
+        audios = item_data.get('audios', {})
+
+        # Save images
+        if colors:
+            for idx_color, (color_key, color) in enumerate(colors.items()):
+                color_name = f'{str(idx).zfill(6)}_{color_key}.jpg'
+                if not cv2.imwrite(os.path.join(self.color_dir, color_name), color):
+                    print(f"Failed to save color image.")
                 item_data['colors'][color_key] = os.path.join('colors', color_name)
 
-        # save depths
-        if depths is not None:
-            for idx, (_, depth) in enumerate(depths.items()):
-                depth_key = f'depth_{idx}'
-                depth_name = f'{str(self.item_id).zfill(6)}_{depth_key}.png'
-                cv2.imwrite(os.path.join(self.depth_dir, depth_name), depth)
+        # Save depths
+        if depths:
+            for idx_depth, (depth_key, depth) in enumerate(depths.items()):
+                depth_name = f'{str(idx).zfill(6)}_{depth_key}.jpg'
+                if not cv2.imwrite(os.path.join(self.depth_dir, depth_name), depth):
+                    print(f"Failed to save depth image.")
                 item_data['depths'][depth_key] = os.path.join('depths', depth_name)
 
-        # save audios
-        if audios is not None:
+        # Save audios
+        if audios:
             for mic, audio in audios.items():
-                audio_name = f'audio_{str(self.item_id).zfill(6)}_{mic}.npy'
+                audio_name = f'audio_{str(idx).zfill(6)}_{mic}.npy'
                 np.save(os.path.join(self.audio_dir, audio_name), audio.astype(np.int16))
                 item_data['audios'][mic] = os.path.join('audios', audio_name)
 
-        item_data['states'] = states
-        item_data['actions'] = actions
-        item_data['tactiles'] = tactiles
-
+        # Update episode data
         self.episode_data.append(item_data)
 
-        if self.log:
+        # Log data if necessary
+        if self.rerun_log:
             curent_record_time = time.time()
             print(f"==> episode_id:{self.episode_id}  item_id:{self.item_id}  current_time:{curent_record_time}")
-            self.online_logger.log_item_data(item_data)
-
+            self.rerun_logger.log_item_data(item_data)
 
     def save_episode(self):
         """
             with open("./hmm.json",'r',encoding='utf-8') as json_file:
                 model=json.load(json_file)
         """
+        # Wait for the queue to be processed
+        self.item_data_queue.join()
+        # save
         self.data['info'] = self.info
         self.data['text'] = self.text
         self.data['data'] = self.episode_data
         with open(self.json_path,'w',encoding='utf-8') as jsonf:
             jsonf.write(json.dumps(self.data, indent=4, ensure_ascii=False))
+
+    def close(self):
+        self.item_data_queue.join()
+        # Signal the worker thread to stop and join the thread
+        self.stop_worker = True
+        self.worker_thread.join()

teleop/utils/rerun_visualizer.py

@@ -70,31 +70,28 @@ class RerunEpisodeReader:
         return audio_data
 
 class RerunLogger:
-    def __init__(self, prefix = "", IdxRangeBoundary = 30, memory_limit = "200MB"):
-        rr.init(datetime.now().strftime("Runtime_%Y%m%d_%H%M%S"))
-        rr.spawn(memory_limit = memory_limit)
-
+    def __init__(self, prefix = "", IdxRangeBoundary = 30, memory_limit = None):
         self.prefix = prefix
         self.IdxRangeBoundary = IdxRangeBoundary
+        rr.init(datetime.now().strftime("Runtime_%Y%m%d_%H%M%S"))
+        if memory_limit:
+            rr.spawn(memory_limit = memory_limit, hide_welcome_screen = True)
+        else:
+            rr.spawn(hide_welcome_screen = True)
+
         # Set up blueprint for live visualization
         if self.IdxRangeBoundary:
             self.setup_blueprint()
 
     def setup_blueprint(self):
+        views = []
+
         data_plot_paths = [
                            f"{self.prefix}left_arm", 
                            f"{self.prefix}right_arm", 
                            f"{self.prefix}left_hand", 
                            f"{self.prefix}right_hand"
         ]
-        image_plot_paths = [
-                            f"{self.prefix}colors/color_0",
-                            f"{self.prefix}colors/color_1",
-                            f"{self.prefix}colors/color_2",
-                            f"{self.prefix}colors/color_3"
-        ]
-
-        views = []
         for plot_path in data_plot_paths:
             view = rrb.TimeSeriesView(
                 origin = plot_path,
@@ -109,24 +106,32 @@ class RerunLogger:
             )
             views.append(view)
 
-        for plot_path in image_plot_paths:
-            view = rrb.Spatial2DView(
-                origin = plot_path,
-                time_ranges=[
-                    rrb.VisibleTimeRange(
-                        "idx",
-                        start = rrb.TimeRangeBoundary.cursor_relative(seq = -self.IdxRangeBoundary),
-                        end = rrb.TimeRangeBoundary.cursor_relative(),
-                    )
-                ],
-            )
-            views.append(view)
+        # image_plot_paths = [
+        #                     f"{self.prefix}colors/color_0",
+        #                     f"{self.prefix}colors/color_1",
+        #                     f"{self.prefix}colors/color_2",
+        #                     f"{self.prefix}colors/color_3"
+        # ]
+        # for plot_path in image_plot_paths:
+        #     view = rrb.Spatial2DView(
+        #         origin = plot_path,
+        #         time_ranges=[
+        #             rrb.VisibleTimeRange(
+        #                 "idx",
+        #                 start = rrb.TimeRangeBoundary.cursor_relative(seq = -self.IdxRangeBoundary),
+        #                 end = rrb.TimeRangeBoundary.cursor_relative(),
+        #             )
+        #         ],
+        #     )
+        #     views.append(view)
 
         grid = rrb.Grid(contents = views,
                         grid_columns=2,               
                         column_shares=[1, 1],
-                        row_shares=[1, 1, 0.5], 
+                        row_shares=[1, 1], 
         )
+        views.append(rr.blueprint.SelectionPanel(state=rrb.PanelState.Collapsed))
+        views.append(rr.blueprint.TimePanel(state=rrb.PanelState.Collapsed))
         rr.send_blueprint(grid)
 
 
@@ -149,30 +154,30 @@ class RerunLogger:
                 for idx, val in enumerate(values):
                     rr.log(f"{self.prefix}{part}/actions/qpos/{idx}", rr.Scalar(val))
 
-        # Log colors (images)
-        colors = item_data.get('colors', {}) or {}
-        for color_key, color_val in colors.items():
-            if color_val is not None:
-                rr.log(f"{self.prefix}colors/{color_key}", rr.Image(color_val))
-
-        # Log depths (images)
-        depths = item_data.get('depths', {}) or {}
-        for depth_key, depth_val in depths.items():
-            if depth_val is not None:
-                # rr.log(f"{self.prefix}depths/{depth_key}", rr.Image(depth_val))
-                pass # Handle depth if needed
-
-        # Log tactile if needed
-        tactiles = item_data.get('tactiles', {}) or {}
-        for hand, tactile_vals in tactiles.items():
-            if tactile_vals is not None:
-                pass # Handle tactile if needed
-
-        # Log audios if needed
-        audios = item_data.get('audios', {}) or {}
-        for audio_key, audio_val in audios.items():
-            if audio_val is not None:
-                pass  # Handle audios if needed
+        # # Log colors (images)
+        # colors = item_data.get('colors', {}) or {}
+        # for color_key, color_val in colors.items():
+        #     if color_val is not None:
+        #         rr.log(f"{self.prefix}colors/{color_key}", rr.Image(color_val))
+
+        # # Log depths (images)
+        # depths = item_data.get('depths', {}) or {}
+        # for depth_key, depth_val in depths.items():
+        #     if depth_val is not None:
+        #         # rr.log(f"{self.prefix}depths/{depth_key}", rr.Image(depth_val))
+        #         pass # Handle depth if needed
+
+        # # Log tactile if needed
+        # tactiles = item_data.get('tactiles', {}) or {}
+        # for hand, tactile_vals in tactiles.items():
+        #     if tactile_vals is not None:
+        #         pass # Handle tactile if needed
+
+        # # Log audios if needed
+        # audios = item_data.get('audios', {}) or {}
+        # for audio_key, audio_val in audios.items():
+        #     if audio_val is not None:
+        #         pass  # Handle audios if needed
 
     def log_episode_data(self, episode_data: list):
         for item_data in episode_data:
@@ -183,49 +188,57 @@ if __name__ == "__main__":
     import gdown
     import zipfile
     import os
-    url = "https://drive.google.com/file/d/1f5UuFl1z_gaByg_7jDRj1_NxfJZh2evD/view?usp=sharing"
     zip_file = "rerun_testdata.zip"
-    if not os.path.exists("episode_0006"):
+    zip_file_download_url = "https://drive.google.com/file/d/1f5UuFl1z_gaByg_7jDRj1_NxfJZh2evD/view?usp=sharing"
+    unzip_file_output_dir = "./testdata"
+    if not os.path.exists(os.path.join(unzip_file_output_dir, "episode_0006")):
         if not os.path.exists(zip_file):
-            file_id = url.split('/')[5]
+            file_id = zip_file_download_url.split('/')[5]
             gdown.download(id=file_id, output=zip_file, quiet=False)
             print("download ok.")
+        if not os.path.exists(unzip_file_output_dir):
+            os.makedirs(unzip_file_output_dir)
         with zipfile.ZipFile(zip_file, 'r') as zip_ref:
-            zip_ref.extractall(".")
+            zip_ref.extractall(unzip_file_output_dir)
         print("uncompress ok.")
         os.remove(zip_file)
         print("clean file ok.")
     else:
         print("rerun_testdata exits.")
 
-    episode_reader = RerunEpisodeReader(task_dir=".")
-    episode_data6 = episode_reader.return_episode_data(6)
-    episode_data8 = episode_reader.return_episode_data(8)
 
-    # Example 1: Offline Visualization
-    user_input = input("Please enter the start signal (enter 'off' to start the subsequent program):\n")
+    episode_reader = RerunEpisodeReader(task_dir = unzip_file_output_dir)
+    # TEST EXAMPLE 1 : OFFLINE DATA TEST
+    user_input = input("Please enter the start signal (enter 'off' or 'on' to start the subsequent program):\n")
     if user_input.lower() == 'off':
+        episode_data6 = episode_reader.return_episode_data(6)
         print("Starting offline visualization...")
         offline_logger = RerunLogger(prefix="offline/")
         offline_logger.log_episode_data(episode_data6)
         print("Offline visualization completed.")
 
-    # Example 2: Online Visualization with Fixed Time Window
-    user_input = input("Please enter the start signal (enter 'on' to start the subsequent program):\n")
+    # TEST EXAMPLE 2 : ONLINE DATA TEST, SLIDE WINDOW SIZE IS 60, MEMORY LIMIT IS 50MB
     if user_input.lower() == 'on':
+        episode_data8 = episode_reader.return_episode_data(8)
         print("Starting online visualization with fixed idx size...")
-        online_logger = RerunLogger(prefix="online/", IdxRangeBoundary = 60)
-        for item_data in episode_data6:
-            online_logger.log_item_data(item_data)
-            time.sleep(0.033) # 30hz
-        print("Online visualization completed.")
-
-    # Example 3: Online Visualization with Fixed Time Window
-    user_input = input("Please enter the start signal (enter 'on' to start the subsequent program):\n")
-    if user_input.lower() == 'on':
-        print("Starting online visualization with fixed idx size...")
-        online_logger = RerunLogger(prefix="online/", IdxRangeBoundary = 60)
+        online_logger = RerunLogger(prefix="online/", IdxRangeBoundary = 60, memory_limit='50MB')
         for item_data in episode_data8:
             online_logger.log_item_data(item_data)
             time.sleep(0.033) # 30hz
         print("Online visualization completed.")
+
+
+    # # TEST DATA OF data_dir
+    # data_dir = "./data"
+    # episode_data_number = 10
+    # episode_reader2 = RerunEpisodeReader(task_dir = data_dir)
+    # user_input = input("Please enter the start signal (enter 'on' to start the subsequent program):\n")
+    # episode_data8 = episode_reader2.return_episode_data(episode_data_number)
+    # if user_input.lower() == 'on':
+    #     # Example 2: Offline Visualization with Fixed Time Window
+    #     print("Starting offline visualization with fixed idx size...")
+    #     online_logger = RerunLogger(prefix="offline/", IdxRangeBoundary = 60)
+    #     for item_data in episode_data8:
+    #         online_logger.log_item_data(item_data)
+    #         time.sleep(0.033) # 30hz
+    #     print("Offline visualization completed.")