def log_control_info()

in lerobot/common/utils/control_utils.py [0:0]

• 33 lines of code
• 14 McCabe index (conditional complexity)

def log_control_info(robot: Robot, dt_s, episode_index=None, frame_index=None, fps=None):
    log_items = []
    if episode_index is not None:
        log_items.append(f"ep:{episode_index}")
    if frame_index is not None:
        log_items.append(f"frame:{frame_index}")

    def log_dt(shortname, dt_val_s):
        nonlocal log_items, fps
        info_str = f"{shortname}:{dt_val_s * 1000:5.2f} ({1 / dt_val_s:3.1f}hz)"
        if fps is not None:
            actual_fps = 1 / dt_val_s
            if actual_fps < fps - 1:
                info_str = colored(info_str, "yellow")
        log_items.append(info_str)

    # total step time displayed in milliseconds and its frequency
    log_dt("dt", dt_s)

    # TODO(aliberts): move robot-specific logs logic in robot.print_logs()
    if not robot.robot_type.startswith("stretch"):
        for name in robot.leader_arms:
            key = f"read_leader_{name}_pos_dt_s"
            if key in robot.logs:
                log_dt("dtRlead", robot.logs[key])

        for name in robot.follower_arms:
            key = f"write_follower_{name}_goal_pos_dt_s"
            if key in robot.logs:
                log_dt("dtWfoll", robot.logs[key])

            key = f"read_follower_{name}_pos_dt_s"
            if key in robot.logs:
                log_dt("dtRfoll", robot.logs[key])

        for name in robot.cameras:
            key = f"read_camera_{name}_dt_s"
            if key in robot.logs:
                log_dt(f"dtR{name}", robot.logs[key])

    info_str = " ".join(log_items)
    logging.info(info_str)