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fix(scripts): serve grpc for a web viewer (#2881)

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* serve grpc for a web viewer

* add help

* remove ip detection

* fix comment

* pass grpc_port

* fix(CLI): fixing CLI display-compressed-images argument 1/2

Co-authored-by: HUANG TZU-CHUN <tzu.chun.huang.tw@gmail.com>
Signed-off-by: Caroline Pascal <caroline8.pascal@gmail.com>

* fix(CLI): fixing CLI display-compressed-images argument 2/2

Co-authored-by: HUANG TZU-CHUN <tzu.chun.huang.tw@gmail.com>
Signed-off-by: Caroline Pascal <caroline8.pascal@gmail.com>

---------

Signed-off-by: Caroline Pascal <caroline8.pascal@gmail.com>
Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com>
Co-authored-by: HUANG TZU-CHUN <tzu.chun.huang.tw@gmail.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
This commit is contained in:
Sota Nakamura
2026-02-18 09:05:51 +09:00
committed by GitHub
parent 1c388c0002
commit af036ce57e
1 changed files with 25 additions and 12 deletions
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src/lerobot/scripts/lerobot_dataset_viz.py
+25 -12
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@@ -47,16 +47,14 @@ local$ rerun lerobot_pusht_episode_0.rrd
```
- Visualize data stored on a distant machine through streaming:
(You need to forward the websocket port to the distant machine, with
`ssh -L 9087:localhost:9087 username@remote-host`)
```
distant$ lerobot-dataset-viz \
--repo-id lerobot/pusht \
--episode-index 0 \
--mode distant \
--ws-port 9087
--grpc-port 9876
local$ rerun ws://localhost:9087
local$ rerun rerun+http://IP:GRPC_PORT/proxy
```
"""
@@ -75,6 +73,7 @@ import tqdm
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.utils.constants import ACTION, DONE, OBS_STATE, REWARD
from lerobot.utils.utils import init_logging
def to_hwc_uint8_numpy(chw_float32_torch: torch.Tensor) -> np.ndarray:
@@ -93,10 +92,11 @@ def visualize_dataset(
num_workers: int = 0,
mode: str = "local",
web_port: int = 9090,
ws_port: int = 9087,
grpc_port: int = 9876,
save: bool = False,
output_dir: Path | None = None,
display_compressed_images: bool = False,
**kwargs,
) -> Path | None:
if save:
assert output_dir is not None, (
@@ -126,7 +126,9 @@ def visualize_dataset(
gc.collect()
if mode == "distant":
rr.serve_web_viewer(open_browser=False, web_port=web_port)
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)
logging.info("Logging to Rerun")
@@ -226,7 +228,7 @@ def main():
"Mode of viewing between 'local' or 'distant'. "
"'local' requires data to be on a local machine. It spawns a viewer to visualize the data locally. "
"'distant' creates a server on the distant machine where the data is stored. "
"Visualize the data by connecting to the server with `rerun ws://localhost:PORT` on the local machine."
"Visualize the data by connecting to the server with `rerun rerun+http://IP:GRPC_PORT/proxy` on the local machine."
),
)
parser.add_argument(
@@ -238,8 +240,13 @@ def main():
parser.add_argument(
"--ws-port",
type=int,
default=9087,
help="Web socket port for rerun.io when `--mode distant` is set.",
help="deprecated, please use --grpc-port instead.",
)
parser.add_argument(
"--grpc-port",
type=int,
default=9876,
help="gRPC port for rerun.io when `--mode distant` is set.",
)
parser.add_argument(
"--save",
@@ -265,9 +272,7 @@ def main():
parser.add_argument(
"--display-compressed-images",
type=bool,
required=True,
default=False,
action="store_true",
help="If set, display compressed images in Rerun instead of uncompressed ones.",
)
@@ -277,6 +282,14 @@ def main():
root = kwargs.pop("root")
tolerance_s = kwargs.pop("tolerance_s")
if kwargs["ws_port"] is not None:
logging.warning(
"--ws-port is deprecated and will be removed in future versions. Please use --grpc-port instead."
)
logging.warning("Setting grpc_port to ws_port value.")
kwargs["grpc_port"] = kwargs.pop("ws_port")
init_logging()
logging.info("Loading dataset")
dataset = LeRobotDataset(repo_id, episodes=[args.episode_index], root=root, tolerance_s=tolerance_s)