Add dry run as debug option to debug config - #177
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Add task.debug.dry_run (default False). When set, the policy runs the full loop — obs, inference, postprocess, telemetry — but skips send_low_command, so no torque reaches the robot. Logs a one-time yellow warning so it's unmistakable that commands are suppressed. Intended for on-hardware bring-up: verify the obs pipeline (pair with print_observations) and end-to-end wiring without the robot moving. Enable via CLI: --task.debug.dry-run
dryer_run swaps in a SyntheticInterface that returns a plausible standing state (default pose, upright IMU, zero velocities) and never opens a DDS connection, so the policy loop runs off-robot with no sim or hardware present. Implies dry_run (never sends commands).
SyntheticInterface.send_low_command now publishes the policy's would-be commands as sensor_msgs/JointState on a synthetic topic (/dryer_run/cmd) that no real driver subscribes to, so the loop's output is measurable (ros2 topic hz/echo/bag) while nothing reaches the robot. Falls back to a no-op if ROS2 is unavailable. Send gate branches: dry_run skips send (real interface), dryer_run calls it (synthetic topic only).
Ctrl-C/SIGTERM can invalidate the rclpy context mid-publish; check rclpy.ok() and swallow the publish exception so exit stays clean.
ORT defaults its intra-op pool to CPU count and pins one worker per core via sched_setaffinity, which bypasses isolcpus and lands workers on the isolated RT cores (10-13), contending with the 1 kHz EtherCAT actuator threads. The policy is a small MLP at 50 Hz (~1ms single-threaded), so force intra/inter_op=1, sequential exec, and clear intra_op_thread_affinities so ORT never per-core-pins. Fixes run_policy showing up on cores 11/12.
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Add task.debug.dry_run (default False). When set, the policy runs the full loop — obs, inference, postprocess, telemetry — but skips send_low_command, so no torque reaches the robot. Logs a one-time yellow warning so it's unmistakable that commands are suppressed. Intended for on-hardware bring-up: verify the obs pipeline (pair with print_observations) and end-to-end wiring without the robot moving.
Enable via CLI: --task.debug.dry-run
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