diff --git a/src/lerobot/scripts/lerobot_dataset_viz.py b/src/lerobot/scripts/lerobot_dataset_viz.py
index c8b8d56fd..e7594d268 100644
--- a/src/lerobot/scripts/lerobot_dataset_viz.py
+++ b/src/lerobot/scripts/lerobot_dataset_viz.py
@@ -168,8 +168,6 @@ def visualize_dataset(
     **kwargs,
 ) -> Path | None:
     if display_mode == "foxglove":
-        if save:
-            logging.warning("--save is ignored with --display-mode foxglove (no .rrd file is written).")
         from lerobot.utils.foxglove_visualization import serve_foxglove_dataset_playback
 
         logging.info("Starting Foxglove server")
@@ -421,6 +419,17 @@ def main():
     )
 
     args = parser.parse_args()
+
+    if args.display_mode == "foxglove":
+        rerun_only = ("mode", "save", "output_dir", "grpc_port", "batch_size", "num_workers")
+        ignored = [name for name in rerun_only if getattr(args, name) != parser.get_default(name)]
+        if ignored:
+            logging.warning(
+                "These flags only apply to `--display-mode rerun` and are ignored with "
+                "`--display-mode foxglove`: %s.",
+                ", ".join(f"--{name.replace('_', '-')}" for name in ignored),
+            )
+
     kwargs = vars(args)
     repo_id = kwargs.pop("repo_id")
     root = kwargs.pop("root")
diff --git a/src/lerobot/utils/foxglove_visualization.py b/src/lerobot/utils/foxglove_visualization.py
index 06b280bf1..b4315203d 100644
--- a/src/lerobot/utils/foxglove_visualization.py
+++ b/src/lerobot/utils/foxglove_visualization.py
@@ -17,7 +17,7 @@
 Live control-loop streaming (:func:`log_foxglove_data`) and seekable dataset playback
 (:func:`serve_foxglove_dataset_playback`) over a Foxglove WebSocket server. Callers usually select a
 backend at runtime through the dispatch in :mod:`lerobot.utils.visualization_utils` rather than
-importing from here directly. Requires the ``foxglove`` extra (``pip install 'lerobot[foxglove]'``).
+importing from here directly. Requires the ``viz`` extra (``pip install 'lerobot[viz]'``).
 """
 
 import logging
@@ -84,7 +84,7 @@ def init_foxglove(host: str = "127.0.0.1", port: int | None = 8765) -> None:
         port: Port to bind the WebSocket server to (defaults to 8765).
     """
 
-    require_package("foxglove-sdk", extra="foxglove", import_name="foxglove")
+    require_package("foxglove-sdk", extra="viz", import_name="foxglove")
     import foxglove
 
     # Live-stream state lives as attributes on ``log_foxglove_data``:
@@ -276,7 +276,7 @@ def log_foxglove_data(
             for CPU and quality.
     """
 
-    require_package("foxglove-sdk", extra="foxglove", import_name="foxglove")
+    require_package("foxglove-sdk", extra="viz", import_name="foxglove")
 
     if getattr(log_foxglove_data, "server", None) is None:
         raise RuntimeError("init_foxglove() must be called before log_foxglove_data().")
@@ -401,7 +401,7 @@ def serve_foxglove_dataset_playback(
             waiting for the user to press play in the Foxglove app.
     """
 
-    require_package("foxglove-sdk", extra="foxglove", import_name="foxglove")
+    require_package("foxglove-sdk", extra="viz", import_name="foxglove")
     import bisect
     import threading