Feat/remote rerunviz encoded images (#2767)

* feat(visualization): allow remote viewer + compress rerun images

* fix(tests): allow named argument in mocked rerun

* feat(visualization): ip instead or url & cli arg for compressing images

---------

Co-authored-by: J4nn1K <jannik@grothusen.de>

src/lerobot/scripts/lerobot_record.py

@@ -185,6 +185,12 @@ class RecordConfig:
     policy: PreTrainedConfig | None = None
     # Display all cameras on screen
     display_data: bool = False
+    # Display data on a remote Rerun server
+    display_ip: str | None = None
+    # Port of the remote Rerun server
+    display_port: int | None = None
+    # Whether to  display compressed images in Rerun
+    display_compressed_images: bool = False
     # Use vocal synthesis to read events.
     play_sounds: bool = True
     # Resume recording on an existing dataset.
@@ -261,6 +267,7 @@ def record_loop(
     control_time_s: int | None = None,
     single_task: str | None = None,
     display_data: bool = False,
+    display_compressed_images: bool = False,
 ):
     if dataset is not None and dataset.fps != fps:
         raise ValueError(f"The dataset fps should be equal to requested fps ({dataset.fps} != {fps}).")
@@ -371,7 +378,9 @@ def record_loop(
             dataset.add_frame(frame)
 
         if display_data:
-            log_rerun_data(observation=obs_processed, action=action_values)
+            log_rerun_data(
+                observation=obs_processed, action=action_values, compress_images=display_compressed_images
+            )
 
         dt_s = time.perf_counter() - start_loop_t
         precise_sleep(max(1 / fps - dt_s, 0.0))
@@ -384,7 +393,12 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
     init_logging()
     logging.info(pformat(asdict(cfg)))
     if cfg.display_data:
-        init_rerun(session_name="recording")
+        init_rerun(session_name="recording", ip=cfg.display_ip, port=cfg.display_port)
+    display_compressed_images = (
+        True
+        if (cfg.display_data and cfg.display_ip is not None and cfg.display_port is not None)
+        else cfg.display_compressed_images
+    )
 
     robot = make_robot_from_config(cfg.robot)
     teleop = make_teleoperator_from_config(cfg.teleop) if cfg.teleop is not None else None
@@ -478,6 +492,7 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
                     control_time_s=cfg.dataset.episode_time_s,
                     single_task=cfg.dataset.single_task,
                     display_data=cfg.display_data,
+                    display_compressed_images=display_compressed_images,
                 )
 
                 # Execute a few seconds without recording to give time to manually reset the environment