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#!/usr/bin/env python
# Copyright 2025 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 importlib
import sys
from types import SimpleNamespace
import numpy as np
import pytest
from lerobot.processor import TransitionKey
from lerobot.utils.constants import OBS_STATE
@pytest.fixture
def mock_rerun(monkeypatch):
"""
Provide a mock `rerun` module so tests don't depend on the real library.
Also reload the module-under-test so it binds to this mock `rr`.
"""
calls = []
class DummyScalar:
def __init__(self, value):
self.value = float(value)
class DummyImage:
def __init__(self, arr):
self.arr = arr
def dummy_log(key, obj, **kwargs):
calls.append((key, obj, kwargs))
dummy_rr = SimpleNamespace(
Scalars=DummyScalar,
Image=DummyImage,
log=dummy_log,
init=lambda *a, **k: None,
spawn=lambda *a, **k: None,
)
# Inject fake module into sys.modules
monkeypatch.setitem(sys.modules, "rerun", dummy_rr)
# Now import and reload the module under test, to bind to our rerun mock
import lerobot.utils.visualization_utils as vu
importlib.reload(vu)
# Expose both the reloaded module and the call recorder
yield vu, calls
def _keys(calls):
"""Helper to extract just the keys logged to rr.log"""
return [k for (k, _obj, _kw) in calls]
def _obj_for(calls, key):
"""Find the first object logged under a given key."""
for k, obj, _kw in calls:
if k == key:
return obj
raise KeyError(f"Key {key} not found in calls: {calls}")
def _kwargs_for(calls, key):
for k, _obj, kw in calls:
if k == key:
return kw
raise KeyError(f"Key {key} not found in calls: {calls}")
def test_log_rerun_data_envtransition_scalars_and_image(mock_rerun):
vu, calls = mock_rerun
# Build EnvTransition dict
obs = {
f"{OBS_STATE}.temperature": np.float32(25.0),
# CHW image should be converted to HWC for rr.Image
"observation.camera": np.zeros((3, 10, 20), dtype=np.uint8),
}
act = {
"action.throttle": 0.7,
# 1D array should log individual Scalars with suffix _i
"action.vector": np.array([1.0, 2.0], dtype=np.float32),
}
transition = {
TransitionKey.OBSERVATION: obs,
TransitionKey.ACTION: act,
}
# Extract observation and action data from transition like in the real call sites
obs_data = transition.get(TransitionKey.OBSERVATION, {})
action_data = transition.get(TransitionKey.ACTION, {})
vu.log_rerun_data(observation=obs_data, action=action_data)
# We expect:
# - observation.state.temperature -> Scalars
# - observation.camera -> Image (HWC) with static=True
# - action.throttle -> Scalars
# - action.vector_0, action.vector_1 -> Scalars
expected_keys = {
f"{OBS_STATE}.temperature",
"observation.camera",
"action.throttle",
"action.vector_0",
"action.vector_1",
}
assert set(_keys(calls)) == expected_keys
# Check scalar types and values
temp_obj = _obj_for(calls, f"{OBS_STATE}.temperature")
assert type(temp_obj).__name__ == "DummyScalar"
assert temp_obj.value == pytest.approx(25.0)
throttle_obj = _obj_for(calls, "action.throttle")
assert type(throttle_obj).__name__ == "DummyScalar"
assert throttle_obj.value == pytest.approx(0.7)
v0 = _obj_for(calls, "action.vector_0")
v1 = _obj_for(calls, "action.vector_1")
assert type(v0).__name__ == "DummyScalar"
assert type(v1).__name__ == "DummyScalar"
assert v0.value == pytest.approx(1.0)
assert v1.value == pytest.approx(2.0)
# Check image handling: CHW -> HWC
img_obj = _obj_for(calls, "observation.camera")
assert type(img_obj).__name__ == "DummyImage"
assert img_obj.arr.shape == (10, 20, 3) # transposed
assert _kwargs_for(calls, "observation.camera").get("static", False) is True # static=True for images
def test_log_rerun_data_plain_list_ordering_and_prefixes(mock_rerun):
vu, calls = mock_rerun
# First dict without prefixes treated as observation
# Second dict without prefixes treated as action
obs_plain = {
"temp": 1.5,
# Already HWC image => should stay as-is
"img": np.zeros((5, 6, 3), dtype=np.uint8),
"none": None, # should be skipped
}
act_plain = {
"throttle": 0.3,
"vec": np.array([9, 8, 7], dtype=np.float32),
}
# Extract observation and action data from list like the old function logic did
# First dict was treated as observation, second as action
vu.log_rerun_data(observation=obs_plain, action=act_plain)
# Expected keys with auto-prefixes
expected = {
"observation.temp",
"observation.img",
"action.throttle",
"action.vec_0",
"action.vec_1",
"action.vec_2",
}
logged = set(_keys(calls))
assert logged == expected
# Scalars
t = _obj_for(calls, "observation.temp")
assert type(t).__name__ == "DummyScalar"
assert t.value == pytest.approx(1.5)
throttle = _obj_for(calls, "action.throttle")
assert type(throttle).__name__ == "DummyScalar"
assert throttle.value == pytest.approx(0.3)
# Image stays HWC
img = _obj_for(calls, "observation.img")
assert type(img).__name__ == "DummyImage"
assert img.arr.shape == (5, 6, 3)
assert _kwargs_for(calls, "observation.img").get("static", False) is True
# Vectors
for i, val in enumerate([9, 8, 7]):
o = _obj_for(calls, f"action.vec_{i}")
assert type(o).__name__ == "DummyScalar"
assert o.value == pytest.approx(val)
def test_log_rerun_data_kwargs_only(mock_rerun):
vu, calls = mock_rerun
vu.log_rerun_data(
observation={"observation.temp": 10.0, "observation.gray": np.zeros((8, 8, 1), dtype=np.uint8)},
action={"action.a": 1.0},
)
keys = set(_keys(calls))
assert "observation.temp" in keys
assert "observation.gray" in keys
assert "action.a" in keys
temp = _obj_for(calls, "observation.temp")
assert type(temp).__name__ == "DummyScalar"
assert temp.value == pytest.approx(10.0)
img = _obj_for(calls, "observation.gray")
assert type(img).__name__ == "DummyImage"
assert img.arr.shape == (8, 8, 1) # remains HWC
assert _kwargs_for(calls, "observation.gray").get("static", False) is True
a = _obj_for(calls, "action.a")
assert type(a).__name__ == "DummyScalar"
assert a.value == pytest.approx(1.0)
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