Make Foxglove server host bindable and refactor topic/channel handling

Pass display_ip through as the Foxglove WebSocket bind host (127.0.0.1
for local only, 0.0.0.0 for all interfaces) instead of always binding
locally. In lerobot-dataset-viz, fold the separate --port into --web-port
so one flag covers both the Rerun web viewer and the Foxglove server port.

Add a _foxglove_topic() helper and thread a per-topic channel cache
through the log helpers so dataset playback stays self-contained instead
of mutating the module-global cache. Promote SUCCESS to constants.py.

src/lerobot/scripts/lerobot_dataset_viz.py

@@ -157,14 +157,13 @@ def visualize_dataset(
     batch_size: int = 32,
     num_workers: int = 0,
     mode: str = "local",
-    web_port: int = 9090,
+    web_port: int | None = None,
     grpc_port: int = 9876,
     save: bool = False,
     output_dir: Path | None = None,
     display_compressed_images: bool = False,
     display_mode: str = "rerun",
     host: str = "127.0.0.1",
-    port: int = 8765,
     **kwargs,
 ) -> Path | None:
     if display_mode == "foxglove":
@@ -177,7 +176,7 @@ def visualize_dataset(
             dataset,
             episode_index,
             host=host,
-            port=port,
+            port=web_port if web_port is not None else 8765,
             compress_images=display_compressed_images,
         )
         return None
@@ -218,7 +217,9 @@ def visualize_dataset(
     if mode == "distant":
         server_uri = rr.serve_grpc(grpc_port=grpc_port)
         logging.info(f"Connect to a Rerun Server: rerun rerun+http://IP:{grpc_port}/proxy")
-        rr.serve_web_viewer(open_browser=False, web_port=web_port, connect_to=server_uri)
+        rr.serve_web_viewer(
+            open_browser=False, web_port=web_port if web_port is not None else 9090, connect_to=server_uri
+        )
 
     logging.info("Logging to Rerun")
 
@@ -342,8 +343,11 @@ def main():
     parser.add_argument(
         "--web-port",
         type=int,
-        default=9090,
-        help="Web port for rerun.io when `--mode distant` is set.",
+        default=None,
+        help=(
+            "Web/WebSocket port. For rerun `--mode distant` it is the web viewer port (default 9090); "
+            "for `--display-mode foxglove` it is the server bind port (default 8765)."
+        ),
     )
     parser.add_argument(
         "--ws-port",
@@ -392,20 +396,17 @@ def main():
         help=(
             "Visualization backend. 'rerun' uses the Rerun viewer (--mode/--save/--*-port apply). "
             "'foxglove' starts a Foxglove WebSocket server that serves the episode as a seekable, "
-            "scrubbable timeline; connect the Foxglove app to ws://HOST:PORT (--host/--port)."
+            "scrubbable timeline; connect the Foxglove app to ws://HOST:PORT (--host/--web-port)."
         ),
     )
     parser.add_argument(
         "--host",
         type=str,
         default="127.0.0.1",
-        help="Host to bind the Foxglove WebSocket server to when `--display-mode foxglove` is set.",
-    )
-    parser.add_argument(
-        "--port",
-        type=int,
-        default=8765,
-        help="Port to bind the Foxglove WebSocket server to when `--display-mode foxglove` is set.",
+        help=(
+            "Host to bind the Foxglove WebSocket server to when `--display-mode foxglove` is set "
+            "(127.0.0.1 for local only, 0.0.0.0 for all interfaces)."
+        ),
     )
 
     args = parser.parse_args()

src/lerobot/scripts/lerobot_record.py

@@ -176,11 +176,11 @@ class RecordConfig:
     # Display all cameras on screen
     display_data: bool = False
     # Visualization backend used when display_data is True: "rerun" or "foxglove".
-    # "foxglove" starts a WebSocket server (default ws://127.0.0.1:8765) to stream data to the Foxglove app.
     display_mode: str = "rerun"
-    # For "rerun": IP of a remote Rerun server to connect to. Unused by "foxglove".
+    # For "rerun": IP of a remote server to send to. For "foxglove": interface to bind the WebSocket
+    # server to (127.0.0.1 for local only, 0.0.0.0 for all interfaces).
     display_ip: str | None = None
-    # For "rerun": port of the remote Rerun server. For "foxglove": port to bind the WebSocket server to.
+    # For "rerun": port of the remote server. For "foxglove": port to bind the WebSocket server to.
     display_port: int | None = None
     # Whether to display compressed (JPEG) images instead of raw frames
     display_compressed_images: bool = False

src/lerobot/scripts/lerobot_teleoperate.py

@@ -142,11 +142,11 @@ class TeleoperateConfig:
     # Display all cameras on screen
     display_data: bool = False
     # Visualization backend used when display_data is True: "rerun" or "foxglove".
-    # "foxglove" starts a WebSocket server (default ws://127.0.0.1:8765) to stream data to the Foxglove app.
     display_mode: str = "rerun"
-    # For "rerun": IP of a remote Rerun server to connect to. Unused by "foxglove".
+    # For "rerun": IP of a remote server to send to. For "foxglove": interface to bind the WebSocket
+    # server to (127.0.0.1 for local only, 0.0.0.0 for all interfaces).
     display_ip: str | None = None
-    # For "rerun": port of the remote Rerun server. For "foxglove": port to bind the WebSocket server to.
+    # For "rerun": port of the remote server. For "foxglove": port to bind the WebSocket server to.
     display_port: int | None = None
     # Whether to display compressed (JPEG) images instead of raw frames
     display_compressed_images: bool = False

src/lerobot/utils/constants.py

@@ -37,6 +37,7 @@ ACTION_TOKEN_MASK = ACTION + ".token_mask"
 REWARD = "next.reward"
 TRUNCATED = "next.truncated"
 DONE = "next.done"
+SUCCESS = "next.success"
 INFO = "info"
 
 ROBOTS = "robots"

src/lerobot/utils/visualization_utils.py

@@ -20,15 +20,40 @@ import numpy as np
 
 from lerobot.types import RobotAction, RobotObservation
 
-from .constants import ACTION, ACTION_PREFIX, DONE, OBS_PREFIX, OBS_STATE, OBS_STR, REWARD
+from .constants import ACTION, ACTION_PREFIX, DONE, OBS_PREFIX, OBS_STATE, OBS_STR, REWARD, SUCCESS
 from .import_utils import require_package
 
+# Visualization backends selectable at runtime via a display-mode string (e.g. a --display_mode flag).
+VISUALIZATION_MODES = ("rerun", "foxglove")
+
 # Module-level Foxglove state. A single WebSocket server is shared for the
 # process lifetime, and image channels are cached by topic (the Foxglove SDK
 # requires reusing one channel per topic).
 _foxglove_server = None
 _foxglove_channels: dict = {}
 
+# Static schema shared by all scalar topics. Each message carries a flat list of ``{label, value}``
+# pairs rather than one field per feature, so the same schema fits any robot regardless of which
+# observation/action features it reports. The ``label`` field name is what Foxglove looks for to name
+# each series automatically, so a single filtered path plots every feature, e.g.
+# ``/observation/state.scalars[:]``.
+_SCALARS_SCHEMA = {
+    "type": "object",
+    "title": "lerobot.Scalars",
+    "properties": {
+        "scalars": {
+            "type": "array",
+            "items": {
+                "type": "object",
+                "properties": {
+                    "label": {"type": "string"},
+                    "value": {"type": "number"},
+                },
+            },
+        }
+    },
+}
+
 
 def init_rerun(
     session_name: str = "lerobot_control_loop", ip: str | None = None, port: int | None = None
@@ -148,38 +173,32 @@ def _foxglove_safe_name(name: str) -> str:
     return name.replace(".", "_")
 
 
-# Static schema shared by all scalar topics. Each message carries a flat list of ``{label, value}``
-# pairs rather than one field per feature, so the same schema fits any robot regardless of which
-# observation/action features it reports. The ``label`` field name is what Foxglove looks for to name
-# each series automatically, so a single filtered path plots every feature, e.g.
-# ``/observation/state.scalars[:].value``.
-_SCALARS_SCHEMA = {
-    "type": "object",
-    "title": "lerobot.Scalars",
-    "properties": {
-        "scalars": {
-            "type": "array",
-            "items": {
-                "type": "object",
-                "properties": {
-                    "label": {"type": "string"},
-                    "value": {"type": "number"},
-                },
-            },
-        }
-    },
-}
+def _foxglove_topic(key: str, *, is_image: bool = False) -> str:
+    """Build the Foxglove topic for a feature ``key``.
+
+    Camera features map to a per-source image topic (``/observation/images/<name>``); scalar features
+    share one aggregate topic per source: ``/observation/state`` for observations, ``/action/state``
+    for actions.
+    """
+
+    if is_image:
+        name = key[len(OBS_PREFIX) :] if str(key).startswith(OBS_PREFIX) else str(key)
+        return f"/{OBS_STR}/images/{_foxglove_safe_name(name)}"
+    source = ACTION if (str(key).startswith(ACTION_PREFIX) or str(key) == ACTION) else OBS_STR
+    return f"/{source}/state"
 
 
-def _log_foxglove_scalars(topic: str, values: dict[str, float], *, log_time: int | None = None) -> None:
+def _log_foxglove_scalars(
+    topic: str, values: dict[str, float], *, channels: dict | None = None, log_time: int | None = None
+) -> None:
     """Log scalars on a typed JSON channel using the static :data:`_SCALARS_SCHEMA`.
 
     ``values`` is an ordered mapping of feature name to value; it is emitted as a ``scalars`` array of
     ``{label, value}`` objects. Insertion order is preserved so series stay stable across messages.
 
-    ``log_time`` is the message time in nanoseconds. When ``None`` the server's receive time is used
-    (correct for live streaming); dataset playback passes the frame's dataset timestamp so the
-    Foxglove timeline reflects the recorded episode.
+    ``channels`` is the per-topic channel cache to reuse (defaults to the module-global cache used by
+    live streaming; dataset playback passes its own local cache to stay self-contained). ``log_time``
+    is the message time in nanoseconds; when ``None`` the server's receive time is used.
     """
 
     if not values:
@@ -187,11 +206,11 @@ def _log_foxglove_scalars(topic: str, values: dict[str, float], *, log_time: int
 
     import foxglove
 
-    channel = _foxglove_channels.get(topic)
+    if channels is None:
+        channels = _foxglove_channels
+    channel = channels.get(topic)
     if channel is None:
-        channel = _foxglove_channels[topic] = foxglove.Channel(
-            topic, schema=_SCALARS_SCHEMA, message_encoding="json"
-        )
+        channel = channels[topic] = foxglove.Channel(topic, schema=_SCALARS_SCHEMA, message_encoding="json")
     msg = {"scalars": [{"label": label, "value": value} for label, value in values.items()]}
     if log_time is None:
         channel.log(msg)
@@ -200,47 +219,57 @@ def _log_foxglove_scalars(topic: str, values: dict[str, float], *, log_time: int
 
 
 def _log_foxglove_image(
-    topic: str, frame_id: str, arr: np.ndarray, *, compress_images: bool, time_ns: int
+    topic: str,
+    frame_id: str,
+    arr: np.ndarray,
+    *,
+    compress_images: bool,
+    channels: dict | None = None,
+    log_time: int | None = None,
 ) -> None:
-    """Log an image on a cached per-topic channel, stamped at ``time_ns`` (nanoseconds).
+    """Log an image on a cached per-topic channel.
 
-    ``arr`` may be HWC or CHW; CHW is transposed to HWC. ``time_ns`` sets both the message header
-    timestamp and the channel ``log_time`` so the message lands at the right point on the Foxglove
-    timeline (matching wall-clock for live streaming, or the dataset timestamp during playback).
+    ``arr`` may be HWC or CHW; CHW is transposed to HWC. ``channels`` is the per-topic channel cache
+    to reuse (see :func:`_log_foxglove_scalars`). ``log_time`` is the message time in nanoseconds; when
+    ``None`` the server's receive time is used. It is also written to the message header timestamp.
     """
 
     from foxglove.channels import CompressedImageChannel, RawImageChannel
     from foxglove.messages import CompressedImage, RawImage, Timestamp
 
+    if channels is None:
+        channels = _foxglove_channels
+    time_ns = time.time_ns() if log_time is None else log_time
     timestamp = Timestamp(sec=time_ns // 1_000_000_000, nsec=time_ns % 1_000_000_000)
+    log_kwargs = {} if log_time is None else {"log_time": log_time}
 
     # Convert CHW -> HWC when needed (mirrors log_rerun_data).
     if arr.ndim == 3 and arr.shape[0] in (1, 3, 4) and arr.shape[-1] not in (1, 3, 4):
         arr = np.transpose(arr, (1, 2, 0))
     height, width = arr.shape[0], arr.shape[1]
-    channels = 1 if arr.ndim == 2 else arr.shape[2]
+    n_channels = 1 if arr.ndim == 2 else arr.shape[2]
 
-    if compress_images and channels == 3:
+    if compress_images and n_channels == 3:
         import cv2
 
         # Camera frames are RGB; cv2.imencode assumes BGR, so swap to keep colors correct.
         _, buf = cv2.imencode(".jpg", cv2.cvtColor(arr, cv2.COLOR_RGB2BGR))
-        channel = _foxglove_channels.get(topic)
+        channel = channels.get(topic)
         if channel is None:
-            channel = _foxglove_channels[topic] = CompressedImageChannel(topic=topic)
+            channel = channels[topic] = CompressedImageChannel(topic=topic)
         channel.log(
             CompressedImage(timestamp=timestamp, frame_id=frame_id, data=buf.tobytes(), format="jpeg"),
-            log_time=time_ns,
+            **log_kwargs,
         )
         return
 
-    encoding = {1: "mono8", 3: "rgb8", 4: "rgba8"}.get(channels)
+    encoding = {1: "mono8", 3: "rgb8", 4: "rgba8"}.get(n_channels)
     if encoding is None:
         return
     arr = np.ascontiguousarray(arr, dtype=np.uint8)
-    channel = _foxglove_channels.get(topic)
+    channel = channels.get(topic)
     if channel is None:
-        channel = _foxglove_channels[topic] = RawImageChannel(topic=topic)
+        channel = channels[topic] = RawImageChannel(topic=topic)
     channel.log(
         RawImage(
             timestamp=timestamp,
@@ -248,10 +277,10 @@ def _log_foxglove_image(
             width=width,
             height=height,
             encoding=encoding,
-            step=width * channels,
+            step=width * n_channels,
             data=arr.tobytes(),
         ),
-        log_time=time_ns,
+        **log_kwargs,
     )
 
 
@@ -365,9 +394,6 @@ def log_foxglove_data(
 
     now = time.time_ns()
 
-    def log_image(topic: str, frame_id: str, arr: np.ndarray) -> None:
-        _log_foxglove_image(topic, frame_id, arr, compress_images=compress_images, time_ns=now)
-
     if observation:
         obs_scalars: dict[str, float] = {}
         for k, v in observation.items():
@@ -381,9 +407,14 @@ def log_foxglove_data(
                     for i, vi in enumerate(v):
                         obs_scalars[f"{key}_{i}"] = float(vi)
                 else:
-                    # Image topics still sanitize the name since it's used as a topic-path segment.
-                    log_image(f"/{OBS_STR}/images/{_foxglove_safe_name(key)}", key, v)
-        _log_foxglove_scalars(f"/{OBS_STR}/state", obs_scalars)
+                    _log_foxglove_image(
+                        _foxglove_topic(k, is_image=True),
+                        key,
+                        v,
+                        compress_images=compress_images,
+                        log_time=now,
+                    )
+        _log_foxglove_scalars(_foxglove_topic(OBS_STATE), obs_scalars, log_time=now)
 
     if action:
         action_scalars: dict[str, float] = {}
@@ -396,7 +427,7 @@ def log_foxglove_data(
             elif isinstance(v, np.ndarray):
                 for i, vi in enumerate(v.flatten()):
                     action_scalars[f"{key}_{i}"] = float(vi)
-        _log_foxglove_scalars(f"/{ACTION}/state", action_scalars)
+        _log_foxglove_scalars(_foxglove_topic(ACTION), action_scalars, log_time=now)
 
 
 # ── Dataset playback over a Foxglove WebSocket server ─────────────────────
@@ -404,8 +435,6 @@ def log_foxglove_data(
 # advertise a seekable timeline and serve frames on demand for whatever time the user scrubs/plays
 # to in the Foxglove app. This relies on the SDK's PlaybackControl capability.
 
-_SUCCESS = "next.success"
-
 
 def _feature_dim_names(feature: dict | None) -> list[str] | None:
     """Best-effort per-dimension series labels for a 1D feature, or ``None`` to fall back to indices.
@@ -502,10 +531,8 @@ def serve_foxglove_dataset_playback(
         OBS_STATE: _feature_dim_names(dataset.meta.features.get(OBS_STATE)),
         ACTION: _feature_dim_names(dataset.meta.features.get(ACTION)),
     }
-
-    def topic_for(key: str) -> str:
-        name = key[len(OBS_PREFIX) :] if str(key).startswith(OBS_PREFIX) else str(key)
-        return f"/{OBS_STR}/images/{_foxglove_safe_name(name)}"
+    # Local channel cache so the playback server is self-contained and doesn't touch the module global.
+    channels: dict = {}
 
     def emit_frame(i: int) -> None:
         """Log every channel for frame ``i`` stamped at its dataset timestamp."""
@@ -518,21 +545,32 @@ def serve_foxglove_dataset_playback(
             arr = arr.numpy() if hasattr(arr, "numpy") else np.asarray(arr)
             if np.issubdtype(arr.dtype, np.floating):
                 arr = (arr * 255.0).clip(0, 255).astype(np.uint8)
-            _log_foxglove_image(topic_for(key), key, arr, compress_images=compress_images, time_ns=log_time)
+            _log_foxglove_image(
+                _foxglove_topic(key, is_image=True),
+                key,
+                arr,
+                compress_images=compress_images,
+                channels=channels,
+                log_time=log_time,
+            )
         _log_foxglove_scalars(
-            f"/{OBS_STR}/state",
+            _foxglove_topic(OBS_STATE),
             _frame_to_scalars(sample, OBS_STATE, scalar_labels[OBS_STATE]),
+            channels=channels,
             log_time=log_time,
         )
         _log_foxglove_scalars(
-            f"/{ACTION}/state", _frame_to_scalars(sample, ACTION, scalar_labels[ACTION]), log_time=log_time
+            _foxglove_topic(ACTION),
+            _frame_to_scalars(sample, ACTION, scalar_labels[ACTION]),
+            channels=channels,
+            log_time=log_time,
         )
         episode_scalars = {}
-        for feat, label in ((DONE, "done"), (REWARD, "reward"), (_SUCCESS, "success")):
+        for feat, label in ((DONE, "done"), (REWARD, "reward"), (SUCCESS, "success")):
             v = sample.get(feat)
             if v is not None:
                 episode_scalars[label] = float(v)
-        _log_foxglove_scalars("/episode/state", episode_scalars, log_time=log_time)
+        _log_foxglove_scalars("/episode/state", episode_scalars, channels=channels, log_time=log_time)
 
     lock = threading.Lock()
     stop_event = threading.Event()
@@ -644,15 +682,13 @@ def serve_foxglove_dataset_playback(
         stop_event.set()
         thread.join(timeout=2.0)
         server.stop()
-        _foxglove_channels.clear()
+        channels.clear()
 
 
 # ── Backend-agnostic dispatch ─────────────────────────────────────────────
 # These let callers select a visualization backend at runtime via a string
 # (e.g. a `--display_mode` CLI flag) without branching on the backend everywhere.
 
-VISUALIZATION_MODES = ("rerun", "foxglove")
-
 
 def init_visualization(
     display_mode: str,
@@ -664,13 +700,14 @@ def init_visualization(
     """Initializes the visualization backend selected by ``display_mode``.
 
     For ``"rerun"``, ``ip``/``port`` point at an optional remote Rerun server. For ``"foxglove"``,
-    ``port`` is the local WebSocket server port (``ip`` is ignored; the server binds locally).
+    ``ip`` is the interface to bind the WebSocket server to (``127.0.0.1`` for local only, ``0.0.0.0``
+    for all interfaces) and ``port`` is its port.
     """
 
     if display_mode == "rerun":
         init_rerun(session_name=session_name, ip=ip, port=port)
     elif display_mode == "foxglove":
-        init_foxglove(port=port)
+        init_foxglove(host=ip or "127.0.0.1", port=port)
     else:
         raise ValueError(f"Unknown display_mode '{display_mode}'. Expected one of {VISUALIZATION_MODES}.")