refactor(viz): split files + autoplay + updated docs + added minimal tests

tests/utils/test_foxglove_visualization.py

@@ -0,0 +1,101 @@
+#!/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.
+
+"""Tests for the Foxglove backend's pure helpers.
+
+These cover topic naming, series labelling and feature-name parsing. They import
+``foxglove_visualization`` directly and need NO ``foxglove`` extra: the SDK is imported lazily inside
+the functions that talk to the server, so the helpers below run in the base test tier.
+"""
+
+import numpy as np
+
+from lerobot.utils import foxglove_visualization as fv
+from lerobot.utils.constants import ACTION, OBS_STATE
+
+
+def test_foxglove_safe_name_collapses_dots():
+    assert fv._foxglove_safe_name("observation.images.front") == "observation_images_front"
+    assert fv._foxglove_safe_name("plain") == "plain"
+
+
+def test_foxglove_topic_image_strips_prefix_without_doubling_images():
+    # Fully-qualified camera key -> single clean segment (no doubled "images").
+    assert fv._foxglove_topic("observation.images.front", is_image=True) == "/observation/images/front"
+    # A nested camera name keeps its structure via safe-name collapsing.
+    assert (
+        fv._foxglove_topic("observation.images.wrist.left", is_image=True) == "/observation/images/wrist_left"
+    )
+    # Bare camera name (as real robots emit).
+    assert fv._foxglove_topic("front", is_image=True) == "/observation/images/front"
+
+
+def test_foxglove_topic_scalar_sources():
+    assert fv._foxglove_topic(OBS_STATE) == "/observation/state"
+    assert fv._foxglove_topic("observation.environment_state") == "/observation/state"
+    assert fv._foxglove_topic(ACTION) == "/action/state"
+    assert fv._foxglove_topic("action.delta") == "/action/state"
+
+
+def test_labeled_scalars_uses_labels_then_index_fallback():
+    assert fv._labeled_scalars("state", np.array([1.0, 2.0, 3.0])) == {
+        "state_0": 1.0,
+        "state_1": 2.0,
+        "state_2": 3.0,
+    }
+    assert fv._labeled_scalars("state", [1.0, 2.0], ["pan", "lift"]) == {"pan": 1.0, "lift": 2.0}
+    # Wrong-length labels fall back to index naming (never silently mislabels).
+    assert fv._labeled_scalars("q", [1.0, 2.0], ["only_one"]) == {"q_0": 1.0, "q_1": 2.0}
+
+
+def test_frame_to_scalars_matches_live_labeling_and_handles_scalar():
+    frame = {OBS_STATE: np.array([1.0, 2.0])}
+    # No metadata -> {short_name}_{i}, identical to the live-stream fallback.
+    assert fv._frame_to_scalars(frame, OBS_STATE) == fv._labeled_scalars("state", np.array([1.0, 2.0]))
+    assert fv._frame_to_scalars(frame, OBS_STATE) == {"state_0": 1.0, "state_1": 2.0}
+    # Metadata labels are honored.
+    assert fv._frame_to_scalars(frame, OBS_STATE, ["pan", "lift"]) == {"pan": 1.0, "lift": 2.0}
+    # A 0-d scalar becomes a single entry named by the short feature name.
+    assert fv._frame_to_scalars({ACTION: np.array(5.0)}, ACTION) == {"action": 5.0}
+    # A missing feature yields an empty mapping.
+    assert fv._frame_to_scalars({}, OBS_STATE) == {}
+
+
+def test_feature_dim_names_formats():
+    # Flat list of names.
+    assert fv._feature_dim_names({"shape": [2], "names": ["x", "y"]}) == ["x", "y"]
+    # Category mapping (dict of lists).
+    assert fv._feature_dim_names({"shape": [2], "names": {"motors": ["m0", "m1"]}}) == ["m0", "m1"]
+    # name -> index mapping (returned sorted by index).
+    assert fv._feature_dim_names({"shape": [2], "names": {"delta_x": 0, "delta_y": 1}}) == [
+        "delta_x",
+        "delta_y",
+    ]
+    # Bool values must NOT be treated as an index map (bool is a subclass of int).
+    assert fv._feature_dim_names({"shape": [2], "names": {"a": True, "b": False}}) is None
+    # Mismatched length -> None (won't silently mislabel).
+    assert fv._feature_dim_names({"shape": [3], "names": ["x", "y"]}) is None
+    # Missing / absent names -> None.
+    assert fv._feature_dim_names(None) is None
+    assert fv._feature_dim_names({"shape": [2]}) is None
+
+
+def test_is_scalar():
+    assert fv._is_scalar(1.0)
+    assert fv._is_scalar(np.float32(2.0))
+    assert fv._is_scalar(np.array(3.0))  # 0-d array
+    assert not fv._is_scalar(np.array([1.0, 2.0]))
+    assert not fv._is_scalar("x")