Package folder structure (#1417)

* Move files

* Replace imports & paths

* Update relative paths

* Update doc symlinks

* Update instructions paths

* Fix imports

* Update grpc files

* Update more instructions

* Downgrade grpc-tools

* Update manifest

* Update more paths

* Update config paths

* Update CI paths

* Update bandit exclusions

* Remove walkthrough section

src/lerobot/utils/visualization_utils.py

@@ -0,0 +1,26 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+import rerun as rr
+
+
+def _init_rerun(session_name: str = "lerobot_control_loop") -> None:
+    """Initializes the Rerun SDK for visualizing the control loop."""
+    batch_size = os.getenv("RERUN_FLUSH_NUM_BYTES", "8000")
+    os.environ["RERUN_FLUSH_NUM_BYTES"] = batch_size
+    rr.init(session_name)
+    memory_limit = os.getenv("LEROBOT_RERUN_MEMORY_LIMIT", "10%")
+    rr.spawn(memory_limit=memory_limit)