Add mobile Aloha and visu with rerun.io

test.py

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+import rerun as rr
+from datasets import load_from_disk
+
+# download/load dataset in pyarrow format
+print("Loading dataset…")
+#dataset = load_dataset("lerobot/aloha_mobile_trossen_block_handoff", split="train")
+dataset = load_from_disk("tests/data/aloha_mobile_trossen_block_handoff/train")
+
+# select the frames belonging to episode number 5
+print("Select specific episode…")
+
+print("Starting Rerun…")
+rr.init("rerun_example_lerobot", spawn=True)
+
+print("Logging to Rerun…")
+# for frame_index, timestamp, cam_high, cam_left_wrist, cam_right_wrist, state, action, next_reward in zip(
+
+for d in dataset:
+    rr.set_time_sequence("frame_index", d["frame_index"])
+    rr.set_time_seconds("timestamp", d["timestamp"])
+    rr.log("observation.images.cam_high", rr.Image( d["observation.images.cam_high"]))
+    rr.log("observation.images.cam_left_wrist", rr.Image(d["observation.images.cam_left_wrist"]))
+    rr.log("observation.images.cam_right_wrist", rr.Image(d["observation.images.cam_right_wrist"]))
+    #rr.log("observation/state", rr.BarChart(state))
+    #rr.log("observation/action", rr.BarChart(action))
+    for idx, val in enumerate(d["action"]):
+        rr.log(f"action_{idx}", rr.Scalar(val))
+
+    for idx, val in enumerate(d["observation.state"]):
+        rr.log(f"state_{idx}", rr.Scalar(val))