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https://github.com/huggingface/lerobot.git
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Steven Palma
052d329470
* Add Foxglove display mode for teleoperate
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.
* Add Foxglove display mode to lerobot-record
Wire the --display_mode flag (rerun|foxglove) into lerobot-record, matching
lerobot-teleoperate: route init/log through the backend-agnostic dispatchers
and stop the visualization backend on exit.
* update foxglove-sdk to 0.25.1
* Use static lerobot.Scalars schema for Foxglove state topics
Replace the per-topic JSON schema derived from feature names with a single
static lerobot.Scalars schema: a scalars array of {label, value} objects. The
same schema fits any robot regardless of which observation/action features it
reports, and the label field lets Foxglove name each series automatically so
one filtered path plots every feature.
* add foxglove option to dataset viz
* Make Foxglove dataset playback loop the sole frame emitter
Address review: the listener no longer emits frames, it only mutates
playback state and queues a one-shot seek index that the playback loop
services. The loop is now the only caller of emit_frame, so concurrent
random access into the on-disk dataset / video decoder never overlaps.
Also remove the dead server_holder and tighten the _foxglove_safe_name
docstring to state what it does and why.
* Label Foxglove dataset scalars with feature dimension names
Use the dataset's per-dimension feature names (e.g. joint names) as the
Foxglove series labels for /observation/state and /action/state instead
of bare indices. LeRobot stores `names` inconsistently (flat list,
{category: [...]}, or {name: index}), so _feature_dim_names handles each
and falls back to indices on any unknown format or length mismatch.
* Make Foxglove server host bindable and refactor topic/channel handling
Pass display_ip through as the Foxglove WebSocket bind host (127.0.0.1
for local only, 0.0.0.0 for all interfaces) instead of always binding
locally. In lerobot-dataset-viz, fold the separate --port into --web-port
so one flag covers both the Rerun web viewer and the Foxglove server port.
Add a _foxglove_topic() helper and thread a per-topic channel cache
through the log helpers so dataset playback stays self-contained instead
of mutating the module-global cache. Promote SUCCESS to constants.py.
* feat(viz): add support for foxglove in rollout + add to viz tag
* fix(docs): remove misleading installation note
* fix(visualization): no duplicated prefix, consolidated norm + warnings log
* chore(viz): minor improvements
* refactor(viz): split files + autoplay + updated docs + added minimal tests
* fix(viz): right tags + warning
* feat(deprecated ws-port): removing rerun's depreacted ws-port parameter in dataset visualization
* chore(web ports): adding global variables for default foxglove/rerun web ports
* feat(depth): adding depth support to foxglove visualizer. Because of foxglove limitations (min and max values on RawImage cannot be set from the SDK), depth is normalized between [0,1] when a depth range is provided.
* fix(rerun depth range): making rerun depth range computation safe against missing stats
* chore(foxglove depth): make it simple, and make it work.
* fix(scaling): fixing depth frames scaling
---------
Co-authored-by: Roman Shtylman <roman@foxglove.dev>
Co-authored-by: Caroline Pascal <caroline8.pascal@gmail.com>
37 lines
1.4 KiB
Python
37 lines
1.4 KiB
Python
#!/usr/bin/env python
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# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Tests for the backend-agnostic visualization dispatch.
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These exercise the display-mode routing/validation only; they need neither ``rerun`` nor
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``foxglove`` installed since the unknown-mode branch raises before touching any backend. Backend
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behavior is covered in ``test_rerun_visualization.py`` and ``test_foxglove_visualization.py``.
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"""
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import pytest
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from lerobot.utils import visualization_utils as vu
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def test_visualization_modes():
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assert vu.VISUALIZATION_MODES == ("rerun", "foxglove")
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@pytest.mark.parametrize("func", ["init_visualization", "log_visualization_data", "shutdown_visualization"])
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def test_dispatch_rejects_unknown_mode(func):
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with pytest.raises(ValueError, match="Unknown display_mode"):
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getattr(vu, func)("bogus")
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