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Revert "feat(visualization): allow remote viewer + compress rerun images (#2756)" (#2766)

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This reverts commit f844c7a458.
This commit is contained in:
Steven Palma
2026-01-07 17:33:36 +01:00
committed by GitHub
parent f844c7a458
commit 4f7cd8d369
5 changed files with 11 additions and 69 deletions
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src/lerobot/utils/visualization_utils.py
+5 -20
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@@ -22,25 +22,13 @@ import rerun as rr
from .constants import OBS_PREFIX, OBS_STR
def init_rerun(
session_name: str = "lerobot_control_loop", ip: str | None = None, port: int | None = None
) -> None:
"""
Initializes the Rerun SDK for visualizing the control loop.
Args:
session_name: Name of the Rerun session.
ip: Optional IP for connecting to a Rerun server.
port: Optional port for connecting to a Rerun server.
"""
def init_rerun(session_name: str = "lerobot_control_loop") -> None:
"""Initializes the Rerun SDK for visualizing the control loop."""
batch_size = os.getenv("RERUN_FLUSH_NUM_BYTES", "8000")
os.environ["RERUN_FLUSH_NUM_BYTES"] = batch_size
rr.init(session_name)
memory_limit = os.getenv("LEROBOT_RERUN_MEMORY_LIMIT", "10%")
if ip and port:
rr.connect_grpc(url=f"rerun+http://{ip}:{port}/proxy")
else:
rr.spawn(memory_limit=memory_limit)
rr.spawn(memory_limit=memory_limit)
def _is_scalar(x):
@@ -52,7 +40,6 @@ def _is_scalar(x):
def log_rerun_data(
observation: dict[str, Any] | None = None,
action: dict[str, Any] | None = None,
compress_images: bool = False,
) -> None:
"""
Logs observation and action data to Rerun for real-time visualization.
@@ -61,7 +48,7 @@ def log_rerun_data(
to the Rerun viewer. It handles different data types appropriately:
- Scalars values (floats, ints) are logged as `rr.Scalars`.
- 3D NumPy arrays that resemble images (e.g., with 1, 3, or 4 channels first) are transposed
from CHW to HWC format, (optionally) compressed to JPEG and logged as `rr.Image` or `rr.EncodedImage`.
from CHW to HWC format and logged as `rr.Image`.
- 1D NumPy arrays are logged as a series of individual scalars, with each element indexed.
- Other multi-dimensional arrays are flattened and logged as individual scalars.
@@ -70,7 +57,6 @@ def log_rerun_data(
Args:
observation: An optional dictionary containing observation data to log.
action: An optional dictionary containing action data to log.
compress_images: Whether to compress images before logging to save bandwidth & memory in exchange for cpu and quality.
"""
if observation:
for k, v in observation.items():
@@ -89,8 +75,7 @@ def log_rerun_data(
for i, vi in enumerate(arr):
rr.log(f"{key}_{i}", rr.Scalars(float(vi)))
else:
img_entity = rr.Image(arr).compress() if compress_images else rr.Image(arr)
rr.log(key, entity=img_entity, static=True)
rr.log(key, rr.Image(arr), static=True)
if action:
for k, v in action.items():