feat: Add fixes and refactor lekiwi example (#1396)

* feat: Add fixes and refactor lekiwi example

* fix: replace repo_id with placeholders

* feat: use record_loop for lekiwi, use same control strucutre as record.py

* feat: make rerun log more general for lekiwi

* fix: add comments record_loop and fix params evaluate.py

* fix: add events in evaluate.py

* fix: add events 2

* change record to display data

* Integrate feedback steven

* Add docs merging

* fix: add lekiwi name check

* fix: integrate feedback steven

* fix: list for type

* fix: check type list

* remove second robot connect

* fix: added file when merging

* fix(record): account for edge cases when teleop is a list

---------

Co-authored-by: Steven Palma <steven.palma@huggingface.co>

src/lerobot/utils/visualization_utils.py

@@ -13,7 +13,9 @@
 # limitations under the License.
 
 import os
+from typing import Any
 
+import numpy as np
 import rerun as rr
 
 
@@ -24,3 +26,21 @@ def _init_rerun(session_name: str = "lerobot_control_loop") -> None:
     rr.init(session_name)
     memory_limit = os.getenv("LEROBOT_RERUN_MEMORY_LIMIT", "10%")
     rr.spawn(memory_limit=memory_limit)
+
+
+def log_rerun_data(observation: dict[str | Any], action: dict[str | Any]):
+    for obs, val in observation.items():
+        if isinstance(val, float):
+            rr.log(f"observation.{obs}", rr.Scalar(val))
+        elif isinstance(val, np.ndarray):
+            if val.ndim == 1:
+                for i, v in enumerate(val):
+                    rr.log(f"observation.{obs}_{i}", rr.Scalar(float(v)))
+            else:
+                rr.log(f"observation.{obs}", rr.Image(val), static=True)
+        for act, val in action.items():
+            if isinstance(val, float):
+                rr.log(f"action.{act}", rr.Scalar(val))
+            elif isinstance(val, np.ndarray):
+                for i, v in enumerate(val):
+                    rr.log(f"action.{act}_{i}", rr.Scalar(float(v)))