test(rerun audio): adding tests for audio visualization with rerun

tests/utils/test_visualization_utils.py

@@ -37,6 +37,14 @@ def mock_rerun(monkeypatch):
         def __init__(self, value):
             self.value = float(value)
 
+        @staticmethod
+        def columns(scalars):
+            return DummyScalarsColumn(scalars)
+
+    class DummyScalarsColumn:
+        def __init__(self, values):
+            self.values = values
+
     class DummyImage:
         def __init__(self, arr):
             self.arr = arr
@@ -47,12 +55,46 @@ def mock_rerun(monkeypatch):
             obj = kwargs.pop("entity")
         calls.append((key, obj, kwargs))
 
+    def dummy_send_columns(key, indexes, columns, **kwargs):
+        calls.append((key, columns, kwargs))
+
+    def dummy_time_column(timeline, timestamp):
+        return timestamp
+
+    def dummy_set_time(timeline, timestamp):
+        return None
+
+    class DummyTimeSeriesView:
+        def __call__(self, origin, plot_legend=None):
+            return None
+
+    class DummySpatial2DView:
+        def __call__(self, origin):
+            return None
+
+    class DummyGrid:
+        def __call__(self, *args):
+            return None
+
+    class DummyPlotLegend:
+        def __call__(self, visible=True):
+            return None
+
     dummy_rr = SimpleNamespace(
         Scalars=DummyScalar,
         Image=DummyImage,
         log=dummy_log,
+        TimeColumn=dummy_time_column,
+        send_columns=dummy_send_columns,
+        set_time=dummy_set_time,
         init=lambda *a, **k: None,
         spawn=lambda *a, **k: None,
+        blueprint=SimpleNamespace(
+            TimeSeriesView=DummyTimeSeriesView,
+            Spatial2DView=DummySpatial2DView,
+            Grid=DummyGrid,
+            PlotLegend=DummyPlotLegend,
+        ),
     )
 
     # Inject fake module into sys.modules
@@ -87,7 +129,7 @@ def _kwargs_for(calls, key):
     raise KeyError(f"Key {key} not found in calls: {calls}")
 
 
-def test_log_rerun_data_envtransition_scalars_and_image(mock_rerun):
+def test_log_rerun_data_envtransition_scalars_image_audio(mock_rerun):
     vu, calls = mock_rerun
 
     # Build EnvTransition dict
@@ -95,6 +137,8 @@ def test_log_rerun_data_envtransition_scalars_and_image(mock_rerun):
         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),
+        # Multiple channels audio data should be split into separate channels and logged as rr.Scalars.columns
+        "observation.audio": np.zeros((100, 2), dtype=np.float32),
     }
     act = {
         "action.throttle": 0.7,
@@ -117,25 +161,27 @@ def test_log_rerun_data_envtransition_scalars_and_image(mock_rerun):
     # - action.throttle -> Scalars
     # - action.vector_0, action.vector_1 -> Scalars
     expected_keys = {
-        f"{OBS_STATE}.temperature",
+        "data/" + f"{OBS_STATE}.temperature",
         "observation.camera",
-        "action.throttle",
+        "data/action.throttle",
-        "action.vector_0",
+        "data/action.vector_0",
-        "action.vector_1",
+        "data/action.vector_1",
+        "audio/observation.audio_channel_0",
+        "audio/observation.audio_channel_1",
     }
     assert set(_keys(calls)) == expected_keys
 
     # Check scalar types and values
-    temp_obj = _obj_for(calls, f"{OBS_STATE}.temperature")
+    temp_obj = _obj_for(calls, f"data/{OBS_STATE}.temperature")
     assert type(temp_obj).__name__ == "DummyScalar"
     assert temp_obj.value == pytest.approx(25.0)
 
-    throttle_obj = _obj_for(calls, "action.throttle")
+    throttle_obj = _obj_for(calls, "data/action.throttle")
     assert type(throttle_obj).__name__ == "DummyScalar"
     assert throttle_obj.value == pytest.approx(0.7)
 
-    v0 = _obj_for(calls, "action.vector_0")
+    v0 = _obj_for(calls, "data/action.vector_0")
-    v1 = _obj_for(calls, "action.vector_1")
+    v1 = _obj_for(calls, "data/action.vector_1")
     assert type(v0).__name__ == "DummyScalar"
     assert type(v1).__name__ == "DummyScalar"
     assert v0.value == pytest.approx(1.0)
@@ -147,6 +193,14 @@ def test_log_rerun_data_envtransition_scalars_and_image(mock_rerun):
     assert img_obj.arr.shape == (10, 20, 3)  # transposed
     assert _kwargs_for(calls, "observation.camera").get("static", False) is True  # static=True for images
 
+    # Check audio handling: split channels + rr.Scalars.columns
+    audio_obj_0 = _obj_for(calls, "audio/observation.audio_channel_0")
+    audio_obj_1 = _obj_for(calls, "audio/observation.audio_channel_1")
+    assert type(audio_obj_0).__name__ == "DummyScalarsColumn"
+    assert type(audio_obj_1).__name__ == "DummyScalarsColumn"
+    assert audio_obj_0.values.shape == (100,)
+    assert audio_obj_1.values.shape == (100,)
+
 
 def test_log_rerun_data_plain_list_ordering_and_prefixes(mock_rerun):
     vu, calls = mock_rerun
@@ -157,6 +211,8 @@ def test_log_rerun_data_plain_list_ordering_and_prefixes(mock_rerun):
         "temp": 1.5,
         # Already HWC image => should stay as-is
         "img": np.zeros((5, 6, 3), dtype=np.uint8),
+        # Multiple channels audio data should be split into separate channels
+        "audio": np.zeros((100, 2), dtype=np.float32),
         "none": None,  # should be skipped
     }
     act_plain = {
@@ -170,22 +226,24 @@ def test_log_rerun_data_plain_list_ordering_and_prefixes(mock_rerun):
 
     # Expected keys with auto-prefixes
     expected = {
-        "observation.temp",
+        "data/observation.temp",
         "observation.img",
-        "action.throttle",
+        "data/action.throttle",
-        "action.vec_0",
+        "data/action.vec_0",
-        "action.vec_1",
+        "data/action.vec_1",
-        "action.vec_2",
+        "data/action.vec_2",
+        "audio/observation.audio_channel_0",
+        "audio/observation.audio_channel_1",
     }
     logged = set(_keys(calls))
     assert logged == expected
 
     # Scalars
-    t = _obj_for(calls, "observation.temp")
+    t = _obj_for(calls, "data/observation.temp")
     assert type(t).__name__ == "DummyScalar"
     assert t.value == pytest.approx(1.5)
 
-    throttle = _obj_for(calls, "action.throttle")
+    throttle = _obj_for(calls, "data/action.throttle")
     assert type(throttle).__name__ == "DummyScalar"
     assert throttle.value == pytest.approx(0.3)
 
@@ -197,25 +255,39 @@ def test_log_rerun_data_plain_list_ordering_and_prefixes(mock_rerun):
 
     # Vectors
     for i, val in enumerate([9, 8, 7]):
-        o = _obj_for(calls, f"action.vec_{i}")
+        o = _obj_for(calls, f"data/action.vec_{i}")
         assert type(o).__name__ == "DummyScalar"
         assert o.value == pytest.approx(val)
 
+    # Audio
+    audio_obj_0 = _obj_for(calls, "audio/observation.audio_channel_0")
+    audio_obj_1 = _obj_for(calls, "audio/observation.audio_channel_1")
+    assert type(audio_obj_0).__name__ == "DummyScalarsColumn"
+    assert type(audio_obj_1).__name__ == "DummyScalarsColumn"
+    assert audio_obj_0.values.shape == (100,)
+    assert audio_obj_1.values.shape == (100,)
+
 
 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)},
+        observation={
+            "observation.temp": 10.0,
+            "observation.gray": np.zeros((8, 8, 1), dtype=np.uint8),
+            "observation.audio": np.zeros((100, 2), dtype=np.float32),
+        },
         action={"action.a": 1.0},
     )
 
     keys = set(_keys(calls))
-    assert "observation.temp" in keys
+    assert "data/observation.temp" in keys
     assert "observation.gray" in keys
-    assert "action.a" in keys
+    assert "data/action.a" in keys
+    assert "audio/observation.audio_channel_0" in keys
+    assert "audio/observation.audio_channel_1" in keys
 
-    temp = _obj_for(calls, "observation.temp")
+    temp = _obj_for(calls, "data/observation.temp")
     assert type(temp).__name__ == "DummyScalar"
     assert temp.value == pytest.approx(10.0)
 
@@ -224,6 +296,13 @@ def test_log_rerun_data_kwargs_only(mock_rerun):
     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")
+    a = _obj_for(calls, "data/action.a")
     assert type(a).__name__ == "DummyScalar"
     assert a.value == pytest.approx(1.0)
+
+    audio_obj_0 = _obj_for(calls, "audio/observation.audio_channel_0")
+    audio_obj_1 = _obj_for(calls, "audio/observation.audio_channel_1")
+    assert type(audio_obj_0).__name__ == "DummyScalarsColumn"
+    assert type(audio_obj_1).__name__ == "DummyScalarsColumn"
+    assert audio_obj_0.values.shape == (100,)
+    assert audio_obj_1.values.shape == (100,)