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fix(audio visualization): making audio visualization robust to multiple channel audio data

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This commit is contained in:
CarolinePascal
2025-10-27 14:28:12 +01:00
parent 6bd40ca219
commit 1ee4d84f07
1 changed files with 19 additions and 16 deletions
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src/lerobot/utils/visualization_utils.py
+19 -16
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@@ -152,22 +152,25 @@ def log_rerun_data(
for i, vi in enumerate(arr): for i, vi in enumerate(arr):
rr.log(f"{key}_{i}", rr.Scalars(float(vi))) rr.log(f"{key}_{i}", rr.Scalars(float(vi)))
elif arr.ndim == 2: elif arr.ndim == 2:
rr.send_columns( for i, channel_arr in enumerate(arr.T):
"audio/" + key, rr.send_columns(
indexes=[ "audio/"
rr.TimeSecondsColumn( + key
"episode_time", + f"_channel_{i}", # TODO(CarolinePascal): Get actual channel number/name
times=log_time indexes=[
+ np.linspace( rr.TimeSecondsColumn(
-DEFAULT_AUDIO_CHUNK_DURATION, "episode_time",
0, times=log_time
len(observation[key]), + np.linspace(
endpoint=False, -DEFAULT_AUDIO_CHUNK_DURATION,
), 0,
) len(channel_arr),
], endpoint=False,
columns=rr.Scalar.columns(scalar=np.mean(observation[key], axis=1)), ),
) )
],
columns=rr.Scalar.columns(scalar=channel_arr),
)
elif arr.ndim == 3: elif arr.ndim == 3:
rr.log(key, rr.Image(arr), static=True) rr.log(key, rr.Image(arr), static=True)
else: else: