Support for headless HITL apps, first pass #1768
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eundersander
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Jan 19, 2024
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| # @package _global_ | |||
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"experiment" is an odd name for a folder that conceptually contains config overrides, but Hydra is really confusing and I was looking to match the naming convention they use in their docs and examples. The name here is unrelated to my use of "experimental" in the config, btw--in the future, we'll put all config overrides in this folder, even if they're not experimental features.
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Tested the changes from this PR on my Mac (Intel i9, Intel UHD Graphics 630). |
henrysamer
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Jan 19, 2024
dannymcy
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Jul 8, 2024
* add DebugVideoWriter * fix for FrequencyLimiter * polish for AverageRateTracker * add headless mode with stub versions of DebugLineRender, GuiInput, and TextDrawer * update README * add docstrings for DebugVideoWriter and StubTextDrawer
HHYHRHY
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Aug 31, 2024
* add DebugVideoWriter * fix for FrequencyLimiter * polish for AverageRateTracker * add headless mode with stub versions of DebugLineRender, GuiInput, and TextDrawer * update README * add docstrings for DebugVideoWriter and StubTextDrawer
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Motivation and Context
"Headless" means no attached local display. A headless mode is useful for (1) unit-testing on headless CI machines, and (2) the client/server model, with Pick_throw_vr running as a server (
remote_gui_mode) on e.g. a headless cloud machine.With this PR, the Unity client can connect to the headless server and e.g. view the animated scene. However, as a first pass, this doesn't actually 100% work with clients yet because of the way I've completely stubbed out GuiInput (which RemoteGuiInput needs).
How Has This Been Tested
Locally tested on Macbook. Tested on headless Ubuntu EC2 instance with Unity client connected.
Types of changes
Checklist