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# Copyright (c) Meta Platforms, Inc. and affiliates.
# All rights reserved.
#
# This source code is licensed under the license found in the
# LICENSE file in the root directory of this source tree.
import sys
from pathlib import Path
import click
import rerun as rr
from loguru import logger
from nymeria.data_provider import NymeriaDataProvider
from nymeria.data_viewer import NymeriaViewer
@click.command()
@click.option(
"-i", "sequence_dir", type=Path, required=True, help="The directory of sequence "
)
@click.option(
"-s", "save_rrd", is_flag=True, default=False, help="Save rerun into logfile"
)
def main(sequence_dir: Path, save_rrd: bool) -> None:
logger.remove()
logger.add(
sys.stdout,
colorize=True,
format="<level>{level: <7}</level> <blue>{name}.py:</blue><green>{function}</green><yellow>:{line}</yellow> {message}",
level="INFO",
)
# See NymeriaDataProviderConfig for configuration
nymeria_dp = NymeriaDataProvider(sequence_rootdir=sequence_dir, load_wrist=True)
output_rrd: Path = sequence_dir / "nymeria.rrd" if save_rrd else None
viewer = NymeriaViewer(output_rrd=output_rrd)
viewer(nymeria_dp)
if save_rrd:
logger.info(f"Save visualization to {output_rrd=}")
rr.disconnect()
if __name__ == "__main__":
main()
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