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Pepijn
18e81504ef
MapVisualizer (lazy rerun-sdk, lerobot[viz]) streams the map as it builds: voxel cloud (RGB or recency colormap), robot pose, top-down occupancy, planned path, and the located target. The dynamic part is visible — each keyframe re-logs the full snapshot so carved voxels vanish, and this frame's removed voxels flash red under world/carved. Wired into LiveMapper.tick (per-keyframe map/removed/robot) and DogController (map/occupancy/robot/target/path after each action), behind a --viz flag (+ --color-mode rgb|recency) on dog-nav; works in --dry-run, --map-only, and --live. Headless tests (spawn=False) cover the log paths and a full dry-run navigate-with-viz. 140 tests in tests/navigation/. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
89 lines
3.1 KiB
Python
89 lines
3.1 KiB
Python
#!/usr/bin/env python
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# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Headless tests for the Rerun map visualizer.
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``spawn=False`` buffers to an in-memory recording, so these run without a
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display and skip cleanly when rerun-sdk isn't installed.
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"""
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from __future__ import annotations
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import numpy as np
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import pytest
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pytest.importorskip("rerun", reason="rerun-sdk not installed (pip install 'lerobot[viz]')")
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from lerobot.navigation.dog_cli import _build_dry_run # noqa: E402
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from lerobot.navigation.viz import MapVisualizer, _recency_colors # noqa: E402
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from lerobot.navigation.voxel_map import VoxelMap # noqa: E402
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def test_recency_colors_recent_vs_old():
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last = np.array([10.0, 0.0]) # one recent, one old
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colors = _recency_colors(last, now=10.0, horizon_s=10.0)
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assert colors.shape == (2, 3)
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assert colors.dtype == np.uint8
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# Recent voxel (age 0) is more green/cyan; old (age 1) is more red.
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assert colors[0, 1] > colors[1, 1] # green channel higher for recent
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assert colors[1, 0] > colors[0, 0] # red channel higher for old
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def _viz() -> MapVisualizer:
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return MapVisualizer(app_id="test-dog-nav", spawn=False)
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def test_log_map_and_dynamics_do_not_raise():
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viz = _viz()
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vm = VoxelMap(voxel_size=0.1)
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pts = np.array([[[0.0, 0.0, 1.0]], [[0.1, 0.0, 1.0]]], dtype=np.float64)
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rgb = np.full((2, 1, 3), 200, dtype=np.uint8)
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conf = np.ones((2, 1), dtype=np.float32)
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vm.add(pts, rgb, conf, frame=0, t=0.0)
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viz.set_time(0.0)
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viz.log_map(vm.snapshot(), now=0.0)
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viz.log_removed(np.array([[0.5, 0.0, 1.0]], dtype=np.float32)) # a carved voxel
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viz.log_robot(np.eye(4))
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viz.log_path([(0.0, 0.0, 0.0), (0.5, 0.0, 0.5)])
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viz.log_target((0.1, 0.0, 1.0))
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def test_log_empty_map_clears_cleanly():
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viz = _viz()
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viz.set_time(1.0)
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viz.log_map(VoxelMap().snapshot()) # empty
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viz.log_removed(np.zeros((0, 3), dtype=np.float32))
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viz.log_target(None)
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def test_recency_color_mode():
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viz = MapVisualizer(app_id="test-recency", spawn=False, color_mode="recency")
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vm = VoxelMap(voxel_size=0.1)
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pts = np.array([[[0.0, 0.0, 1.0]]], dtype=np.float64)
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vm.add(pts, np.full((1, 1, 3), 100, np.uint8), np.ones((1, 1), np.float32), frame=0, t=5.0)
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viz.set_time(5.0)
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viz.log_map(vm.snapshot(), now=5.0)
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def test_dry_run_controller_with_viz_navigates():
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"""End-to-end: the dry-run stack with a headless visualizer still reaches
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the couch, and every viz call along the way is exercised."""
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viz = _viz()
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controller = _build_dry_run(viz=viz)
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result = controller.handle_prompt("couch")
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assert result.fully_successful
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