← Back to packages

Package intrinsic_proto.replay

Service Replay

Message DownsamplingFilterOptions

Message FilterOptions

Message ImageCompressionOptions

Message LayoutGenerationOptions

Message PerceptionVisualizerOptions

Message RawMessageVisualizerOptions

Message RegexFilterOptions

Message SceneVisualizerOptions

Message TextLogsVisualizerOptions

Message TimeRangeFilterOptions

Message VisualizationOptions

Message VisualizeRecordingRequest

Message VisualizeRecordingResponse

Message VisualizerOptions

Services

service Replay intrinsic/logging/proto/replay_service.proto

rpc VisualizeRecording
Request: intrinsic_proto.replay.VisualizeRecordingRequest
Response: intrinsic_proto.replay.VisualizeRecordingResponse

Visualize a recording.

Messages

message DownsamplingFilterOptions (Nested in intrinsic_proto.replay.FilterOptions ) intrinsic/logging/proto/replay_service_options.proto

Filter by downsampling.

If multiple sampling intervals are set, the candidate will only be sampled if all intervals are met.

Downsampling happens on a per candidate ID basis, treating each candidate ID as an independent stream to be sampled from.

Field Type Description
1 match_regexes repeated string

Downsamples candidate IDs that match these regex patterns. Must be valid RE2 regex patterns.
2 sampling_interval_time optional google.protobuf.Duration

If set, downsamples the candidates by time interval. This is the minimum time interval between each sample.
3 sampling_interval_count optional uint32

If set, downsamples the candidates by sampling count. This is the minimum number of candidates between each sample.

message FilterOptions intrinsic/logging/proto/replay_service_options.proto

Options to filter recorded logs.

A recorded log will be included if it passes all specified filters.

Field Type Description
1 time_range optional intrinsic_proto.replay.FilterOptions.TimeRangeFilterOptions

Applies the following filters in order, if set.
2 event_sources optional intrinsic_proto.replay.FilterOptions.RegexFilterOptions
3 downsamplers repeated intrinsic_proto.replay.FilterOptions.DownsamplingFilterOptions

Downsampling will take into account prior filter applications.

If multiple downsamplers match the same candidate, the candidate will be downsampled according to the strictest matching downsampler.

message ImageCompressionOptions (Nested in intrinsic_proto.replay.PerceptionVisualizerOptions ) intrinsic/logging/proto/replay_service_options.proto

Field Type Description
1 enabled bool

If true, compresses images to JPEG.
3 quality optional uint32

The JPEG quality to use when compressing images to JPEG for visualization. In the range [0, 100].

message LayoutGenerationOptions intrinsic/logging/proto/replay_service_options.proto

Options for layout generation, where a heuristic layout is generated based on the recorded logs.

Visualizers are able to gather state from recorded logs to automatically generate suitable layout components. For example, the perception visualizer gathers seen pose estimations to generate the views for that pose estimator.

You can still manually create and edit a layout on the visualization frontend.

Field Type Description
1 enabled bool

If true, enables layout generation.
2 layout_generation_threshold optional float

The float percentage of the recording time at which to generate the heuristic visualization layout.

This value must be in the range [0, 1]. Defaults to 0.6, which causes the layout to be generated after 60% of the recording time has been parsed.

If this threshold is too low, then the visualizers might not have encountered the necessary state to generate all desired layouts. But if this threshold is too high, then for a large recording, visualization layouts might take a long time to be generated.

message PerceptionVisualizerOptions intrinsic/logging/proto/replay_service_options.proto

Options for the Perception visualizer, which visualizes: - Captured camera images - Pose estimations

Field Type Description
1 enabled bool

If true, enables the visualizer.
2 filters optional intrinsic_proto.replay.FilterOptions

Options for filtering out recorded logs going into the visualizer.
3 buffer_size optional uint32

The number of ImageWithMetadata messages to buffer.

Use a higher number if there are many concurrent skill runs or perception estimators.
4 image_compression optional intrinsic_proto.replay.PerceptionVisualizerOptions.ImageCompressionOptions

Options for image compression.

message RawMessageVisualizerOptions intrinsic/logging/proto/replay_service_options.proto

Options for the RawMessage visualizer, which visualizes: - Raw message data

Field Type Description
1 enabled bool

If true, enables the visualizer.
2 filters optional intrinsic_proto.replay.FilterOptions

Options for filtering out recorded logs going into the visualizer.
3 bytes_max_display_length optional uint32

Maximum number of bytes to display in bytes fields.

message RegexFilterOptions (Nested in intrinsic_proto.replay.FilterOptions ) intrinsic/logging/proto/replay_service_options.proto

Filter by regex patterns.

Filter elements must be valid RE2 regex patterns, and will be used as such.

Field Type Description
1 allowlist_regexes repeated string

Candidates to include. If empty, defaults to ".*", which includes all candidates.
2 denylist_regexes repeated string

Candidates to exclude, will be applied after the allowlist.

message SceneVisualizerOptions intrinsic/logging/proto/replay_service_options.proto

Options for the Scene visualizer, which visualizes: - World transforms (including robot and scene) - World renderable geometries

Field Type Description
1 enabled bool

If true, enables the visualizer.
2 filters optional intrinsic_proto.replay.FilterOptions

Options for filtering out recorded logs going into the visualizer.

message TextLogsVisualizerOptions intrinsic/logging/proto/replay_service_options.proto

Options for the TextLogs visualizer, which visualizes: - Text logs

Field Type Description
1 enabled bool

If true, enables the visualizer.
2 filters optional intrinsic_proto.replay.FilterOptions

Options for filtering out recorded logs going into the visualizer.

message TimeRangeFilterOptions (Nested in intrinsic_proto.replay.FilterOptions ) intrinsic/logging/proto/replay_service_options.proto

Filter by time range.

Field Type Description
1 start_time optional google.protobuf.Timestamp

If set, excludes candidates before this time.
2 end_time optional google.protobuf.Timestamp

If set, excludes candidates after this time.

message VisualizationOptions intrinsic/logging/proto/replay_service_options.proto

Field Type Description
1 name optional string

An optional name for the visualization. If not set, defaults to a random UUID.
2 default_visualizer_filters optional intrinsic_proto.replay.FilterOptions

Default options for filtering out recorded logs that will be set on all visualizers.

Use this if you want to filter out some logs across all visualizers by default (e.g., for high frequency event sources).

You can still override these defaults by setting options on each visualizer.
3 layout_generation optional intrinsic_proto.replay.LayoutGenerationOptions

Options for layout generation.
4 visualizers optional intrinsic_proto.replay.VisualizationOptions.VisualizerOptions

Options for visualizers.

message VisualizeRecordingRequest intrinsic/logging/proto/replay_service.proto

Field Type Description
1 recording_id string

The recording to visualize.
2 visualization_options optional intrinsic_proto.replay.VisualizationOptions

Visualization options for the message visualizer.

Sane defaults are already set for each visualizer (e.g., downsampling high frequency event sources) and other options (e.g., layout generation).

Setting options here will override those defaults on a per option basis.

message VisualizeRecordingResponse intrinsic/logging/proto/replay_service.proto

Field Type Description
1 url string

The URL to the visualization.

message VisualizerOptions (Nested in intrinsic_proto.replay.VisualizationOptions ) intrinsic/logging/proto/replay_service_options.proto

Field Type Description
1 raw_message optional intrinsic_proto.replay.RawMessageVisualizerOptions

Options for the RawMessage visualizer.
2 text_logs optional intrinsic_proto.replay.TextLogsVisualizerOptions

Options for the TextLogs visualizer.
4 scene optional intrinsic_proto.replay.SceneVisualizerOptions

Options for the Scene visualizer.
5 perception optional intrinsic_proto.replay.PerceptionVisualizerOptions

Options for the Perception visualizer.