feat(visualization): replace cv2 GUI with Rerun (and solves ffmpeg versioning issues) (#903)

examples/10_use_so100.md

@@ -57,9 +57,15 @@ conda activate lerobot
 git clone https://github.com/huggingface/lerobot.git ~/lerobot
 ```
 
-#### 5. Install LeRobot with dependencies for the feetech motors:
+#### 5. Install ffmpeg in your environment:
+When using `miniconda`, install `ffmpeg` in your environment:
 ```bash
-cd ~/lerobot && pip install --no-binary=av -e ".[feetech]"
+conda install ffmpeg -c conda-forge
+```
+
+#### 6. Install LeRobot with dependencies for the feetech motors:
+```bash
+cd ~/lerobot && pip install -e ".[feetech]"
 ```
 
 Great :hugs:! You are now done installing LeRobot and we can begin assembling the SO100 arms :robot:.
@@ -491,6 +497,9 @@ python lerobot/scripts/control_robot.py \
 
 #### a. Teleop with displaying cameras
 Follow [this guide to setup your cameras](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#c-add-your-cameras-with-opencvcamera). Then you will be able to display the cameras on your computer while you are teleoperating by running the following code. This is useful to prepare your setup before recording your first dataset.
+
+> **NOTE:** To visualize the data, enable `--control.display_data=true`. This streams the data using `rerun`.
+
 ```bash
 python lerobot/scripts/control_robot.py \
   --robot.type=so100 \

examples/11_use_lekiwi.md

@@ -67,9 +67,15 @@ conda activate lerobot
 git clone https://github.com/huggingface/lerobot.git ~/lerobot
 ```
 
-#### 5. Install LeRobot with dependencies for the feetech motors:
+#### 5. Install ffmpeg in your environment:
+When using `miniconda`, install `ffmpeg` in your environment:
 ```bash
-cd ~/lerobot && pip install --no-binary=av -e ".[feetech]"
+conda install ffmpeg -c conda-forge
+```
+
+#### 6. Install LeRobot with dependencies for the feetech motors:
+```bash
+cd ~/lerobot && pip install -e ".[feetech]"
 ```
 
 ## C. Install LeRobot on laptop
@@ -108,9 +114,15 @@ conda activate lerobot
 git clone https://github.com/huggingface/lerobot.git ~/lerobot
 ```
 
-#### 5. Install LeRobot with dependencies for the feetech motors:
+#### 5. Install ffmpeg in your environment:
+When using `miniconda`, install `ffmpeg` in your environment:
 ```bash
-cd ~/lerobot && pip install --no-binary=av -e ".[feetech]"
+conda install ffmpeg -c conda-forge
+```
+
+#### 6. Install LeRobot with dependencies for the feetech motors:
+```bash
+cd ~/lerobot && pip install -e ".[feetech]"
 ```
 
 Great :hugs:! You are now done installing LeRobot and we can begin assembling the SO100 arms and Mobile base :robot:.
@@ -412,6 +424,8 @@ python lerobot/scripts/control_robot.py \
   --control.fps=30
 ```
 
+> **NOTE:** To visualize the data, enable `--control.display_data=true`. This streams the data using `rerun`. For the `--control.type=remote_robot` you will also need to set `--control.viewer_ip` and `--control.viewer_port`
+
 You should see on your laptop something like this: ```[INFO] Connected to remote robot at tcp://172.17.133.91:5555 and video stream at tcp://172.17.133.91:5556.``` Now you can move the leader arm and use the keyboard (w,a,s,d) to drive forward, left, backwards, right. And use (z,x) to turn left or turn right. You can use (r,f) to increase and decrease the speed of the mobile robot. There are three speed modes, see the table below:
 | Speed Mode | Linear Speed (m/s) | Rotation Speed (deg/s) |
 | ---------- | ------------------ | ---------------------- |

examples/11_use_moss.md

@@ -31,9 +31,15 @@ conda create -y -n lerobot python=3.10 && conda activate lerobot
 git clone https://github.com/huggingface/lerobot.git ~/lerobot
 ```
 
-5. Install LeRobot with dependencies for the feetech motors:
+5. Install ffmpeg in your environment:
+When using `miniconda`, install `ffmpeg` in your environment:
 ```bash
-cd ~/lerobot && pip install --no-binary=av -e ".[feetech]"
+conda install ffmpeg -c conda-forge
+```
+
+6. Install LeRobot with dependencies for the feetech motors:
+```bash
+cd ~/lerobot && pip install -e ".[feetech]"
 ```
 
 ## Configure the motors
@@ -212,6 +218,9 @@ python lerobot/scripts/control_robot.py \
 
 **Teleop with displaying cameras**
 Follow [this guide to setup your cameras](https://github.com/huggingface/lerobot/blob/main/examples/7_get_started_with_real_robot.md#c-add-your-cameras-with-opencvcamera). Then you will be able to display the cameras on your computer while you are teleoperating by running the following code. This is useful to prepare your setup before recording your first dataset.
+
+> **NOTE:** To visualize the data, enable `--control.display_data=true`. This streams the data using `rerun`.
+
 ```bash
 python lerobot/scripts/control_robot.py \
   --robot.type=moss \

examples/2_evaluate_pretrained_policy.py

@@ -18,7 +18,7 @@ training outputs directory. In the latter case, you might want to run examples/3
 
 It requires the installation of the 'gym_pusht' simulation environment. Install it by running:
 ```bash
-pip install --no-binary=av -e ".[pusht]"`
+pip install -e ".[pusht]"`
 ```
 """
 

examples/7_get_started_with_real_robot.md

@@ -33,7 +33,7 @@ First, install the additional dependencies required for robots built with dynami
 
 Using `pip`:
 ```bash
-pip install --no-binary=av -e ".[dynamixel]"
+pip install -e ".[dynamixel]"
 ```
 
 Using `poetry`:
@@ -55,6 +55,9 @@ Finally, connect both arms to your computer via USB. Note that the USB doesn't p
 Now you are ready to configure your motors for the first time, as detailed in the sections below. In the upcoming sections, you'll learn about our classes and functions by running some python code in an interactive session, or by copy-pasting it in a python file.
 
 If you have already configured your motors the first time, you can streamline the process by directly running the teleoperate script (which is detailed further in the tutorial):
+
+> **NOTE:** To visualize the data, enable `--control.display_data=true`. This streams the data using `rerun`.
+
 ```bash
 python lerobot/scripts/control_robot.py \
   --robot.type=koch \
@@ -828,10 +831,10 @@ It contains:
 
 Troubleshooting:
 - On Linux, if you encounter any issue during video encoding with `ffmpeg: unknown encoder libsvtav1`, you can:
-  - install with conda-forge by running `conda install -c conda-forge ffmpeg` (it should be compiled with `libsvtav1`),
-  - or, install [Homebrew](https://brew.sh) and run `brew install ffmpeg` (it should be compiled with `libsvtav1`),
-  - or, install [ffmpeg build dependencies](https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu#GettheDependencies) and [compile ffmpeg from source with libsvtav1](https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu#libsvtav1),
-  - and, make sure you use the corresponding ffmpeg binary to your install with `which ffmpeg`.
+   - install with conda-forge by running `conda install -c conda-forge ffmpeg` (it should be compiled with `libsvtav1`),
+> **NOTE:** This usually installs `ffmpeg 7.X` for your platform (check the version installed with `ffmpeg -encoders | grep libsvtav1`). If it isn't `ffmpeg 7.X` or lacks `libsvtav1` support, you can explicitly install `ffmpeg 7.X` using: `conda install ffmpeg=7.1.1 -c conda-forge`
+   - or, install [ffmpeg build dependencies](https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu#GettheDependencies) and [compile ffmpeg from source with libsvtav1](https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu#libsvtav1),
+   - and, make sure you use the corresponding ffmpeg binary to your install with `which ffmpeg`.
 - On Linux, if the left and right arrow keys and escape key don't have any effect during data recording, make sure you've set the `$DISPLAY` environment variable. See [pynput limitations](https://pynput.readthedocs.io/en/latest/limitations.html#linux).
 
 At the end of data recording, your dataset will be uploaded on your Hugging Face page (e.g. https://huggingface.co/datasets/cadene/koch_test) that you can obtain by running:

examples/8_use_stretch.md

@@ -43,14 +43,19 @@ conda create -y -n lerobot python=3.10 && conda activate lerobot
 git clone https://github.com/huggingface/lerobot.git ~/lerobot
 ```
 
-6. Install LeRobot with stretch dependencies:
+6. When using `miniconda`, install `ffmpeg` in your environment:
 ```bash
-cd ~/lerobot && pip install --no-binary=av -e ".[stretch]"
+conda install ffmpeg -c conda-forge
+```
+
+7. Install LeRobot with stretch dependencies:
+```bash
+cd ~/lerobot && pip install -e ".[stretch]"
 ```
 
 > **Note:** If you get this message, you can ignore it: `ERROR: pip's dependency resolver does not currently take into account all the packages that are installed.`
 
-7. Run a [system check](https://docs.hello-robot.com/0.3/getting_started/stretch_hardware_overview/#system-check) to make sure your robot is ready:
+8. Run a [system check](https://docs.hello-robot.com/0.3/getting_started/stretch_hardware_overview/#system-check) to make sure your robot is ready:
 ```bash
 stretch_system_check.py
 ```
@@ -97,6 +102,8 @@ This is equivalent to running `stretch_robot_home.py`
 Before trying teleoperation, you need activate the gamepad controller by pressing the middle button. For more info, see Stretch's [doc](https://docs.hello-robot.com/0.3/getting_started/hello_robot/#gamepad-teleoperation).
 
 Now try out teleoperation (see above documentation to learn about the gamepad controls):
+
+> **NOTE:** To visualize the data, enable `--control.display_data=true`. This streams the data using `rerun`.
 ```bash
 python lerobot/scripts/control_robot.py \
     --robot.type=stretch \

examples/9_use_aloha.md

@@ -30,9 +30,14 @@ conda create -y -n lerobot python=3.10 && conda activate lerobot
 git clone https://github.com/huggingface/lerobot.git ~/lerobot
 ```
 
-5. Install LeRobot with dependencies for the Aloha motors (dynamixel) and cameras (intelrealsense):
+5. When using `miniconda`, install `ffmpeg` in your environment:
 ```bash
-cd ~/lerobot && pip install --no-binary=av -e ".[dynamixel, intelrealsense]"
+conda install ffmpeg -c conda-forge
+```
+
+6. Install LeRobot with dependencies for the Aloha motors (dynamixel) and cameras (intelrealsense):
+```bash
+cd ~/lerobot && pip install -e ".[dynamixel, intelrealsense]"
 ```
 
 ## Teleoperate
@@ -43,6 +48,9 @@ Teleoperation consists in manually operating the leader arms to move the followe
 2. Our code assumes that your robot has been assembled following Trossen Robotics instructions. This allows us to skip calibration, as we use the pre-defined calibration files in `.cache/calibration/aloha_default`. If you replace a motor, make sure you follow the exact instructions from Trossen Robotics.
 
 By running the following code, you can start your first **SAFE** teleoperation:
+
+> **NOTE:** To visualize the data, enable `--control.display_data=true`. This streams the data using `rerun`.
+
 ```bash
 python lerobot/scripts/control_robot.py \
   --robot.type=aloha \