feat(visualization): implement rerun

benchmarks/video/capture_camera_feed.py

@@ -17,12 +17,19 @@
 
 import argparse
 import datetime as dt
+import os
 from pathlib import Path
 
 import cv2
+import keyboard
+import rerun as rr
 
 
 def display_and_save_video_stream(output_dir: Path, fps: int, width: int, height: int):
+    rr.init("lerobot_capture_camera_feed")
+    memory_limit = os.getenv("LEROBOT_RERUN_MEMORY_LIMIT", "5%")
+    rr.spawn(memory_limit=memory_limit)
+
     now = dt.datetime.now()
     capture_dir = output_dir / f"{now:%Y-%m-%d}" / f"{now:%H-%M-%S}"
     if not capture_dir.exists():
@@ -45,18 +52,18 @@ def display_and_save_video_stream(output_dir: Path, fps: int, width: int, height
         if not ret:
             print("Error: Could not read frame.")
             break
-
+        rr.log("video/stream", rr.Image(frame.numpy()), static=True)
-        cv2.imshow("Video Stream", frame)
         cv2.imwrite(str(capture_dir / f"frame_{frame_index:06d}.png"), frame)
         frame_index += 1
 
         # Break the loop on 'q' key press
-        if cv2.waitKey(1) & 0xFF == ord("q"):
+        if keyboard.is_pressed("q"):
             break
 
     # Release the capture and destroy all windows
     cap.release()
-    cv2.destroyAllWindows()
+    # TODO(Steven): Find a way to close visualizer: https://github.com/rerun-io/rerun/pull/9400
+    # cv2.destroyAllWindows()
 
 
 if __name__ == "__main__":

lerobot/common/robot_devices/control_configs.py

@@ -41,7 +41,7 @@ class TeleoperateControlConfig(ControlConfig):
     fps: int | None = None
     teleop_time_s: float | None = None
     # Display all cameras on screen
-    display_cameras: bool = True
+    display_data: bool = False
 
 
 @ControlConfig.register_subclass("record")
@@ -82,7 +82,7 @@ class RecordControlConfig(ControlConfig):
     # Not enough threads might cause low camera fps.
     num_image_writer_threads_per_camera: int = 4
     # Display all cameras on screen
-    display_cameras: bool = True
+    display_data: bool = False
     # Use vocal synthesis to read events.
     play_sounds: bool = True
     # Resume recording on an existing dataset.

lerobot/common/robot_devices/control_utils.py

@@ -24,7 +24,7 @@ from contextlib import nullcontext
 from copy import copy
 from functools import cache
 
-import cv2
+import rerun as rr
 import torch
 from deepdiff import DeepDiff
 from termcolor import colored
@@ -174,13 +174,13 @@ def warmup_record(
     events,
     enable_teleoperation,
     warmup_time_s,
-    display_cameras,
+    display_data,
     fps,
 ):
     control_loop(
         robot=robot,
         control_time_s=warmup_time_s,
-        display_cameras=display_cameras,
+        display_data=display_data,
         events=events,
         fps=fps,
         teleoperate=enable_teleoperation,
@@ -192,7 +192,7 @@ def record_episode(
     dataset,
     events,
     episode_time_s,
-    display_cameras,
+    display_data,
     policy,
     fps,
     single_task,
@@ -200,7 +200,7 @@ def record_episode(
     control_loop(
         robot=robot,
         control_time_s=episode_time_s,
-        display_cameras=display_cameras,
+        display_data=display_data,
         dataset=dataset,
         events=events,
         policy=policy,
@@ -215,7 +215,7 @@ def control_loop(
     robot,
     control_time_s=None,
     teleoperate=False,
-    display_cameras=False,
+    display_data=False,
     dataset: LeRobotDataset | None = None,
     events=None,
     policy: PreTrainedPolicy = None,
@@ -264,11 +264,14 @@ def control_loop(
             frame = {**observation, **action, "task": single_task}
             dataset.add_frame(frame)
 
-        if display_cameras and not is_headless():
+        if display_data and not is_headless():
+            for k, v in action.items():
+                for i, vv in enumerate(v):
+                    rr.log(f"sent_{k}_{i}", rr.Scalar(vv.numpy()))
+
             image_keys = [key for key in observation if "image" in key]
             for key in image_keys:
-                cv2.imshow(key, cv2.cvtColor(observation[key].numpy(), cv2.COLOR_RGB2BGR))
+                rr.log(key, rr.Image(observation[key].numpy()), static=True)
-            cv2.waitKey(1)
 
         if fps is not None:
             dt_s = time.perf_counter() - start_loop_t
@@ -297,15 +300,15 @@ def reset_environment(robot, events, reset_time_s, fps):
     )
 
 
-def stop_recording(robot, listener, display_cameras):
+def stop_recording(robot, listener, display_data):
     robot.disconnect()
 
-    if not is_headless():
+    if not is_headless() and listener is not None:
-        if listener is not None:
         listener.stop()
 
-        if display_cameras:
+        # TODO(Steven): Find a way to close visualizer: https://github.com/rerun-io/rerun/pull/9400
-            cv2.destroyAllWindows()
+        # if display_data:
+        #     cv2.destroyAllWindows()
 
 
 def sanity_check_dataset_name(repo_id, policy_cfg):

lerobot/common/robot_devices/robots/configs.py

@@ -443,7 +443,7 @@ class So100RobotConfig(ManipulatorRobotConfig):
     leader_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem58760431091",
+                port="/dev/tty.usbmodem58760434171",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],
@@ -460,7 +460,7 @@ class So100RobotConfig(ManipulatorRobotConfig):
     follower_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem585A0076891",
+                port="/dev/tty.usbmodem58760430031",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],
@@ -476,17 +476,11 @@ class So100RobotConfig(ManipulatorRobotConfig):
 
     cameras: dict[str, CameraConfig] = field(
         default_factory=lambda: {
-            "laptop": OpenCVCameraConfig(
+            "cam": OpenCVCameraConfig(
                 camera_index=0,
                 fps=30,
-                width=640,
+                width=1280,
-                height=480,
+                height=720,
-            ),
-            "phone": OpenCVCameraConfig(
-                camera_index=1,
-                fps=30,
-                width=640,
-                height=480,
             ),
         }
     )

lerobot/scripts/control_robot.py

@@ -135,15 +135,19 @@ python lerobot/scripts/control_robot.py \
 """
 
 import logging
+import os
 import time
 from dataclasses import asdict
 from pprint import pformat
 
+import rerun as rr
+
 # from safetensors.torch import load_file, save_file
 from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.common.policies.factory import make_policy
 from lerobot.common.robot_devices.control_configs import (
     CalibrateControlConfig,
+    ControlConfig,
     ControlPipelineConfig,
     RecordControlConfig,
     RemoteRobotConfig,
@@ -153,6 +157,7 @@ from lerobot.common.robot_devices.control_configs import (
 from lerobot.common.robot_devices.control_utils import (
     control_loop,
     init_keyboard_listener,
+    is_headless,
     log_control_info,
     record_episode,
     reset_environment,
@@ -232,7 +237,7 @@ def teleoperate(robot: Robot, cfg: TeleoperateControlConfig):
         control_time_s=cfg.teleop_time_s,
         fps=cfg.fps,
         teleoperate=True,
-        display_cameras=cfg.display_cameras,
+        display_data=cfg.display_data,
     )
 
 
@@ -280,7 +285,7 @@ def record(
     # 3. place the cameras windows on screen
     enable_teleoperation = policy is None
     log_say("Warmup record", cfg.play_sounds)
-    warmup_record(robot, events, enable_teleoperation, cfg.warmup_time_s, cfg.display_cameras, cfg.fps)
+    warmup_record(robot, events, enable_teleoperation, cfg.warmup_time_s, cfg.display_data, cfg.fps)
 
     if has_method(robot, "teleop_safety_stop"):
         robot.teleop_safety_stop()
@@ -296,7 +301,7 @@ def record(
             dataset=dataset,
             events=events,
             episode_time_s=cfg.episode_time_s,
-            display_cameras=cfg.display_cameras,
+            display_data=cfg.display_data,
             policy=policy,
             fps=cfg.fps,
             single_task=cfg.single_task,
@@ -326,7 +331,7 @@ def record(
             break
 
     log_say("Stop recording", cfg.play_sounds, blocking=True)
-    stop_recording(robot, listener, cfg.display_cameras)
+    stop_recording(robot, listener, cfg.display_data)
 
     if cfg.push_to_hub:
         dataset.push_to_hub(tags=cfg.tags, private=cfg.private)
@@ -363,6 +368,40 @@ def replay(
         log_control_info(robot, dt_s, fps=cfg.fps)
 
 
+def _init_rerun(control_config: ControlConfig, session_name: str = "lerobot_control_loop") -> None:
+    """Initializes the Rerun SDK for visualizing the control loop.
+
+    Args:
+        control_config: Configuration determining data display and robot type.
+        session_name: Rerun session name. Defaults to "lerobot_control_loop".
+
+    Raises:
+        ValueError: If viewer IP is missing for non-remote configurations with display enabled.
+    """
+    if control_config.display_data and not is_headless():
+        # Configure Rerun flush batch size
+        batch_size = os.getenv("RERUN_FLUSH_NUM_BYTES", "8000")
+        os.environ["RERUN_FLUSH_NUM_BYTES"] = batch_size
+
+        # Get memory limit and viewer connection parameters
+        memory_limit = os.getenv("LEROBOT_RERUN_MEMORY_LIMIT", "5%")
+        viewer_ip = os.getenv("LEROBOT_VIEWER_IP")
+        viewer_port = os.getenv("LEROBOT_VIEWER_PORT", "9876")
+
+        # Initialize Rerun based on configuration
+        rr.init(session_name)
+        if isinstance(control_config, RemoteRobotConfig):
+            if not viewer_ip:
+                raise ValueError(
+                    "Viewer IP required for remote config. Set LEROBOT_VIEWER_IP "
+                    "or disable control_config.display_data."
+                )
+            logging.info(f"Connecting to viewer at {viewer_ip}:{viewer_port}")
+            rr.connect_tcp(f"{viewer_ip}:{viewer_port}")
+        else:
+            rr.spawn(memory_limit=memory_limit)
+
+
 @parser.wrap()
 def control_robot(cfg: ControlPipelineConfig):
     init_logging()
@@ -370,17 +409,22 @@ def control_robot(cfg: ControlPipelineConfig):
 
     robot = make_robot_from_config(cfg.robot)
 
+    # TODO(Steven): Blueprint for fixed window size
+
     if isinstance(cfg.control, CalibrateControlConfig):
         calibrate(robot, cfg.control)
     elif isinstance(cfg.control, TeleoperateControlConfig):
+        _init_rerun(control_config=cfg.control, session_name="lerobot_control_loop_teleop")
         teleoperate(robot, cfg.control)
     elif isinstance(cfg.control, RecordControlConfig):
+        _init_rerun(control_config=cfg.control, session_name="lerobot_control_loop_record")
         record(robot, cfg.control)
     elif isinstance(cfg.control, ReplayControlConfig):
         replay(robot, cfg.control)
     elif isinstance(cfg.control, RemoteRobotConfig):
         from lerobot.common.robot_devices.robots.lekiwi_remote import run_lekiwi
 
+        _init_rerun(control_config=cfg.control, session_name="lerobot_control_loop_remote")
         run_lekiwi(cfg.robot)
 
     if robot.is_connected:

pyproject.toml

@@ -60,9 +60,9 @@ dependencies = [
     "jsonlines>=4.0.0",
     "numba>=0.59.0",
     "omegaconf>=2.3.0",
-    "opencv-python>=4.9.0",
+    "opencv-python-headless>=4.9.0",
+    "keyboard>=0.13.5",
     "packaging>=24.2",
-    "av>=12.0.5,<13.0.0",
     "pymunk>=6.6.0",
     "pynput>=1.7.7",
     "pyzmq>=26.2.1",

tests/robots/test_control_robot.py

@@ -172,8 +172,7 @@ def test_record_and_replay_and_policy(tmp_path, request, robot_type, mock):
         push_to_hub=False,
         # TODO(rcadene, aliberts): test video=True
         video=False,
-        # TODO(rcadene): display cameras through cv2 sometimes crashes on mac
+        display_data=False,
-        display_cameras=False,
         play_sounds=False,
     )
     dataset = record(robot, rec_cfg)
@@ -226,7 +225,7 @@ def test_record_and_replay_and_policy(tmp_path, request, robot_type, mock):
         num_episodes=2,
         push_to_hub=False,
         video=False,
-        display_cameras=False,
+        display_data=False,
         play_sounds=False,
         num_image_writer_processes=num_image_writer_processes,
     )
@@ -273,7 +272,7 @@ def test_resume_record(tmp_path, request, robot_type, mock):
         episode_time_s=1,
         push_to_hub=False,
         video=False,
-        display_cameras=False,
+        display_data=False,
         play_sounds=False,
         num_episodes=1,
     )
@@ -330,7 +329,7 @@ def test_record_with_event_rerecord_episode(tmp_path, request, robot_type, mock)
             num_episodes=1,
             push_to_hub=False,
             video=False,
-            display_cameras=False,
+            display_data=False,
             play_sounds=False,
         )
         dataset = record(robot, rec_cfg)
@@ -380,7 +379,7 @@ def test_record_with_event_exit_early(tmp_path, request, robot_type, mock):
             num_episodes=1,
             push_to_hub=False,
             video=False,
-            display_cameras=False,
+            display_data=False,
             play_sounds=False,
         )
 
@@ -433,7 +432,7 @@ def test_record_with_event_stop_recording(tmp_path, request, robot_type, mock, n
             num_episodes=2,
             push_to_hub=False,
             video=False,
-            display_cameras=False,
+            display_data=False,
             play_sounds=False,
             num_image_writer_processes=num_image_writer_processes,
         )