fix(rerun audio): fixing rerun visualization for audio

examples/lekiwi/teleoperate.py

@@ -49,6 +49,7 @@ def main():
         raise ValueError("Robot or teleop is not connected!")
 
     print("Starting teleop loop...")
+    start = time.perf_counter()
     while True:
         t0 = time.perf_counter()
 
@@ -69,7 +70,7 @@ def main():
         _ = robot.send_action(action)
 
         # Visualize
-        log_rerun_data(observation=observation, action=action)
+        log_rerun_data(observation=observation, action=action, log_time=time.perf_counter() - start)
 
         precise_sleep(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))
 

examples/phone_to_so100/teleoperate.py

@@ -89,12 +89,13 @@ def main():
     teleop_device.connect()
 
     # Init rerun viewer
-    init_rerun(session_name="phone_so100_teleop")
+    init_rerun(session_name="phone_so100_teleop", robot=robot, reset_time=True)
 
     if not robot.is_connected or not teleop_device.is_connected:
         raise ValueError("Robot or teleop is not connected!")
 
     print("Starting teleop loop. Move your phone to teleoperate the robot...")
+    start = time.perf_counter()
     while True:
         t0 = time.perf_counter()
 
@@ -111,7 +112,7 @@ def main():
         _ = robot.send_action(joint_action)
 
         # Visualize
-        log_rerun_data(observation=phone_obs, action=joint_action)
+        log_rerun_data(observation=phone_obs, action=joint_action, log_time=time.perf_counter() - start)
 
         precise_sleep(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))
 

examples/so100_to_so100_EE/teleoperate.py

@@ -94,9 +94,10 @@ def main():
     leader.connect()
 
     # Init rerun viewer
-    init_rerun(session_name="so100_so100_EE_teleop")
+    init_rerun(session_name="so100_so100_EE_teleop", robot=follower, reset_time=True)
 
     print("Starting teleop loop...")
+    start = time.perf_counter()
     while True:
         t0 = time.perf_counter()
 
@@ -116,7 +117,9 @@ def main():
         _ = follower.send_action(follower_joints_act)
 
         # Visualize
-        log_rerun_data(observation=leader_ee_act, action=follower_joints_act)
+        log_rerun_data(
+            observation=leader_ee_act, action=follower_joints_act, log_time=time.perf_counter() - start
+        )
 
         precise_sleep(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))
 

src/lerobot/scripts/lerobot_teleoperate.py

@@ -187,6 +187,7 @@ def teleop_loop(
                 observation=obs_transition,
                 action=teleop_action,
                 compress_images=display_compressed_images,
+                log_time=time.perf_counter() - start,
             )
 
             print("\n" + "-" * (display_len + 10))

src/lerobot/utils/visualization_utils.py

@@ -14,6 +14,7 @@
 
 import numbers
 import os
+import time
 from uuid import uuid4
 
 import numpy as np
@@ -48,8 +49,9 @@ def init_rerun(
     rr.init(
         application_id=session_name,
         recording_id=uuid4(),
-        default_blueprint=build_rerun_blueprint(robot) if robot is not None else None,
     )
+    if robot is not None:
+        rr.send_blueprint(build_rerun_blueprint(robot))
     memory_limit = os.getenv("LEROBOT_RERUN_MEMORY_LIMIT", "10%")
     if ip and port:
         rr.connect_grpc(url=f"rerun+http://{ip}:{port}/proxy")
@@ -57,7 +59,7 @@ def init_rerun(
         rr.spawn(memory_limit=memory_limit)
 
     if reset_time:
-        rr.set_time_seconds("episode_time", seconds=0.0)
+        rr.set_time("episode_time", timestamp=0.0)
 
 
 def _is_scalar(x):
@@ -80,26 +82,26 @@ def build_rerun_blueprint(robot: Robot) -> rr.blueprint.Grid:
     """
     contents = [
         rr.blueprint.TimeSeriesView(
-            origin="states_actions",
+            origin="data",
             plot_legend=rr.blueprint.PlotLegend(visible=True),
         )
     ]
     if robot.microphones:
         contents += [
             rr.blueprint.TimeSeriesView(
-                origin="microphones",
+                origin="audio",
                 plot_legend=rr.blueprint.PlotLegend(visible=True),
             )
         ]
     if robot.cameras:
         contents += [
             rr.blueprint.Spatial2DView(
-                origin=camera_name,
+                origin=OBS_PREFIX + camera_name,
             )
             for camera_name in robot.cameras
         ]
 
-    return rr.blueprint.Grid(contents)
+    return rr.blueprint.Grid(*contents)
 
 
 def log_rerun_data(
@@ -128,8 +130,9 @@ def log_rerun_data(
         log_time: The time to log the data in the "episode_time" timeline.
                   If None, the current time is used in Rerun's default timeline.
     """
-    if log_time is not None:
+    if log_time is None:
-        rr.set_time_seconds("episode_time", seconds=log_time)
+        log_time = time.perf_counter()
+    rr.set_time("episode_time", timestamp=log_time)
 
     if observation:
         for k, v in observation.items():
@@ -138,29 +141,29 @@ def log_rerun_data(
             key = k if str(k).startswith(OBS_PREFIX) else f"{OBS_STR}.{k}"
 
             if _is_scalar(v):
-                rr.log(key, rr.Scalars(float(v)))
+                rr.log("data/" + key, rr.Scalars(float(v)))
             elif isinstance(v, np.ndarray):
                 arr = v
                 # Convert CHW -> HWC when needed
                 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))
-                # Convert channel x samples -> samples x channel when needed
+                # Convert samples x channels -> channels x samples when needed
-                elif arr.ndim == 2 and arr.shape[0] < arr.shape[1]:
+                elif arr.ndim == 2 and arr.shape[1] < arr.shape[0]:
                     arr = np.transpose(arr, (1, 0))
 
                 if arr.ndim == 1:
                     for i, vi in enumerate(arr):
-                        rr.log(f"{key}_{i}", rr.Scalars(float(vi)))
+                        rr.log("data/" + f"{key}_{i}", rr.Scalars(float(vi)))
                 elif arr.ndim == 2:
-                    for i, channel_arr in enumerate(arr.T):
+                    for i, channel_arr in enumerate(arr):
                         rr.send_columns(
                             "audio/"
                             + key
                             + f"_channel_{i}",  # TODO(CarolinePascal): Get actual channel number/name
                             indexes=[
-                                rr.TimeSecondsColumn(
+                                rr.TimeColumn(
                                     "episode_time",
-                                    times=log_time
+                                    timestamp=log_time
                                     + np.linspace(
                                         -DEFAULT_AUDIO_CHUNK_DURATION,
                                         0,
@@ -169,7 +172,7 @@ def log_rerun_data(
                                     ),
                                 )
                             ],
-                            columns=rr.Scalar.columns(scalar=channel_arr),
+                            columns=rr.Scalars.columns(scalars=channel_arr),
                         )
                 elif arr.ndim == 3:
                     rr.log(key, rr.Image(arr), static=True)
@@ -184,13 +187,13 @@ def log_rerun_data(
             key = k if str(k).startswith(ACTION_PREFIX) else f"{ACTION}.{k}"
 
             if _is_scalar(v):
-                rr.log(key, rr.Scalars(float(v)))
+                rr.log("data/" + key, rr.Scalars(float(v)))
             elif isinstance(v, np.ndarray):
                 if v.ndim == 1:
                     for i, vi in enumerate(v):
-                        rr.log(f"{key}_{i}", rr.Scalars(float(vi)))
+                        rr.log("data/" + f"{key}_{i}", rr.Scalars(float(vi)))
                 else:
                     # Fall back to flattening higher-dimensional arrays
                     flat = v.flatten()
                     for i, vi in enumerate(flat):
-                        rr.log(f"{key}_{i}", rr.Scalars(float(vi)))
+                        rr.log("data/" + f"{key}_{i}", rr.Scalars(float(vi)))