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Add Foxglove display mode for teleoperate

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Add a --display_mode flag (rerun|foxglove) to lerobot-teleoperate. When set
to foxglove, stream observations/actions over a Foxglove WebSocket server:
images as RawImage/CompressedImage, scalars as typed JSON channels with
schemas generated from the feature names (sanitized so paths don't need
quoting). Adds a `foxglove` extra.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
This commit is contained in:
Roman Shtylman
2026-05-28 19:22:00 -07:00
committed by CarolinePascal
parent 2f2b567951
commit 3062bf0548
3 changed files with 274 additions and 9 deletions
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pyproject.toml
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@@ -126,6 +126,9 @@ hardware = [
viz = [
"rerun-sdk>=0.24.0,<0.34.0",
]
foxglove = [
"foxglove-sdk>=0.24.0,<1.0.0",
]
# ── User-facing composite extras (map to CLI scripts) ─────
# lerobot-record, lerobot-replay, lerobot-calibrate, lerobot-teleoperate, etc.
core_scripts = ["lerobot[dataset]", "lerobot[hardware]", "lerobot[viz]"]