From 3026ca411d961610bcb1bb970fa3e4fbca30479f Mon Sep 17 00:00:00 2001 From: kleinlau17 Date: Sat, 24 Oct 2026 19:45:31 +0800 Subject: [PATCH 1/4] feat: align native camera horizontal field of view --- docs/component-reference.md | 9 +++ src/botlab/_runtime/_observations.py | 27 +++++---- src/botlab/sdk/_resources.py | 8 +++ tests/fixtures/camera-projection.json | 1 + tests/runtime/test_camera_projection.py | 80 +++++++++++++++++++++++++ 5 files changed, 114 insertions(+), 11 deletions(-) create mode 100644 tests/fixtures/camera-projection.json create mode 100644 tests/runtime/test_camera_projection.py diff --git a/docs/component-reference.md b/docs/component-reference.md index abbcef7..88e4049 100644 --- a/docs/component-reference.md +++ b/docs/component-reference.md @@ -120,3 +120,12 @@ For exportable motion switching, prefer the compiled declaration: Motion. The single-controller rule resets to frame zero with root body channel zero and native joint ordering; it supports editor, standalone browser and native execution without Python callbacks. It cannot be combined with `action(modify=...)`. + +### Independent camera field of view + +A `Sensor` preset/config accepts optional `horizontalFov` in degrees (finite, +strictly between 0 and 180). `fov` remains the vertical FoV of the full sensor. +Omitted/null `horizontalFov` preserves the aspect-derived horizontal view. +For example, `fov: 58`, `horizontalFov: 87`, `fullWidth: 48`, `fullHeight: 27` +calibrates the two axes independently, before applying `cropX`/`cropY` and +`width`/`height`. Use a matching browser runtime for editor and published sites. diff --git a/src/botlab/_runtime/_observations.py b/src/botlab/_runtime/_observations.py index 356dd41..b78e6b1 100644 --- a/src/botlab/_runtime/_observations.py +++ b/src/botlab/_runtime/_observations.py @@ -634,6 +634,12 @@ def read_camera_config(node_data): raw_xyaxes = source.get("cameraXyaxes") rotation_mode = "xyaxes" if not (raw_xyaxes is None or raw_xyaxes == "") else "euler" + horizontal_fov = None + if source.get("horizontalFov") is not None: + horizontal_fov = _positive_number_field(source, "horizontalFov") + if horizontal_fov >= 180: + raise _error("CameraObservation", "horizontalFov must be less than 180 degrees") + config = { "outputMode": _enum_field(source, "outputMode", ("rgb", "depth", "rgbd")), "targetKind": _enum_field(source, "targetKind", ("body", "site")), @@ -648,6 +654,7 @@ def read_camera_config(node_data): "cropX": crop_x, "cropY": crop_y, "fov": _positive_number_field(source, "fov"), + "horizontalFov": horizontal_fov, "near": near, "far": far, "depthScale": _positive_number_field(source, "depthScale"), @@ -2389,16 +2396,11 @@ def _camera_scene_option(geom_groups): def _camera_render(renderer, model, data, config): - """Update the renderer scene for one parsed camera config. - - The frustum mirrors ``CameraObservationPoseResolver.update``: - ``fov`` is the vertical FoV of the FULL sensor and the horizontal extent - follows the full-sensor aspect (``camera.aspect = fullWidth/fullHeight`` - in TS). MuJoCo's ``setView`` derives the frustum halfwidth from the - viewport aspect when ``frustum_width`` is 0 — the renderer viewport IS - fullWidth x fullHeight, so leaving it 0 reproduces the TS projection; the - crop window is taken from the rendered full frame afterwards (TS applies - it via ``camera.setViewOffset`` before rendering at width x height). + """Render the full sensor, with an optional independent horizontal FoV. + + A zero frustum_width preserves MuJoCo's viewport-derived horizontal view. + Otherwise MuJoCo uses this field as the frustum *halfwidth*. Cropping is + applied to the full frame later, matching the browser's setViewOffset. """ position, forward, up = _camera_pose(model, data, config) @@ -2419,6 +2421,9 @@ def _camera_render(renderer, model, data, config): model.vis.global_.fovy = previous_fovy half_height = config["near"] * math.tan(math.radians(config["fov"]) / 2) + horizontal_fov = config["horizontalFov"] + half_width = (0.0 if horizontal_fov is None else + config["near"] * math.tan(math.radians(horizontal_fov) / 2)) for side in (0, 1): view = renderer.scene.camera[side] view.pos[:] = position @@ -2431,7 +2436,7 @@ def _camera_render(renderer, model, data, config): view.frustum_center = 0.0 # 0 lets mjr_render derive the halfwidth from the viewport aspect # (the full-sensor aspect); a nonzero value pins it instead. - view.frustum_width = 0.0 + view.frustum_width = half_width view.orthographic = 0 diff --git a/src/botlab/sdk/_resources.py b/src/botlab/sdk/_resources.py index 310387c..3c1f9ad 100644 --- a/src/botlab/sdk/_resources.py +++ b/src/botlab/sdk/_resources.py @@ -195,6 +195,14 @@ def __init__(self, signal, age_slot): class Sensor: + """Camera resource calibrated by preset/config. + + ``fov`` is the full sensor's vertical field of view in degrees. Optional + ``horizontalFov`` (0 < value < 180) independently sets its horizontal view; + omitted/None preserves the aspect-derived view. Cropping does not change + either calibration. Both browser and native runtimes use these fields. + """ + def __init__(self, source, *, preset=None, config=None, name=None): self.id = _declare_resource( "sensor", diff --git a/tests/fixtures/camera-projection.json b/tests/fixtures/camera-projection.json new file mode 100644 index 0000000..bf0b921 --- /dev/null +++ b/tests/fixtures/camera-projection.json @@ -0,0 +1 @@ +{"convention":"Pixel centers; camera optical x-right, y-down, z-forward; unnormalized K^-1 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diff --git a/tests/runtime/test_camera_projection.py b/tests/runtime/test_camera_projection.py new file mode 100644 index 0000000..07709fb --- /dev/null +++ b/tests/runtime/test_camera_projection.py @@ -0,0 +1,80 @@ +"""Shared pinhole golden rays and real rendered depth, without policy weights.""" +import json +import math +from pathlib import Path +from types import SimpleNamespace + +import mujoco +import numpy as np +import pytest + +from botlab._runtime import _observations as obs + +GOLDEN = json.loads((Path(__file__).parents[1] / "fixtures/camera-projection.json").read_text()) + + +@pytest.mark.parametrize("value", [0, -1, 180, 181, float("nan"), float("inf"), "bad"]) +def test_invalid_horizontal_fov(value): + with pytest.raises(ValueError, match="horizontalFov"): + obs.read_camera_config({"horizontalFov": value}) + + +def test_optional_horizontal_fov(): + assert obs.read_camera_config({})["horizontalFov"] is None + assert obs.read_camera_config({"horizontalFov": None})["horizontalFov"] is None + + +def camera_scene(fixture): + # A tilted plane has an analytic depth at every ray. This also verifies + # MuJoCo actually consumes frustum_width, rather than only storing it. + angle = 0.3 + model = mujoco.MjModel.from_xml_string( + f'' + ) + data = mujoco.MjData(model) + mujoco.mj_forward(model, data) + config = obs.read_camera_config({**fixture["config"], "target": "0", + "cameraOffset": [0, 0, 2], "cameraOffsetFrame": "body", + "cameraXyaxes": [1, 0, 0, 0, 1, 0], "near": .05, "far": 100}) + return model, data, config + + +@pytest.mark.parametrize("fixture", GOLDEN["cases"], ids=lambda item: item["name"]) +def test_native_pixel_rays_without_gl(fixture): + model, data, config = camera_scene(fixture) + # Scene-camera fields are MuJoCo float32 storage, but constructing the + # scene and writing its projection does not need an OpenGL context. + renderer = SimpleNamespace( + scene=mujoco.MjvScene(model, maxgeom=10), + update_scene=lambda *args, **kwargs: None, + ) + obs._camera_render(renderer, model, data, config) + view = renderer.scene.camera[0] + half_width = view.frustum_width or (view.frustum_top - view.frustum_bottom) / 2 * config["fullWidth"] / config["fullHeight"] + rays = [] + for y in range(config["height"]): + for x in range(config["width"]): + rays.append([ + (2 * (x + config["cropX"] + .5) / config["fullWidth"] - 1) * half_width / view.frustum_near, + (2 * (y + config["cropY"] + .5) / config["fullHeight"] - 1) * view.frustum_top / view.frustum_near, + 1, + ]) + np.testing.assert_allclose(rays, fixture["rays"], atol=1e-7, rtol=0) + + +@pytest.mark.parametrize("fixture", GOLDEN["cases"], ids=lambda item: item["name"]) +def test_native_rendered_depth(fixture): + model, data, config = camera_scene(fixture) + try: + renderer = mujoco.Renderer(model, width=config["fullWidth"], height=config["fullHeight"]) + except Exception as error: + pytest.skip(f"MuJoCo GL renderer unavailable ({error}); set MUJOCO_GL=egl") + with renderer: + obs._camera_render(renderer, model, data, config) + renderer.enable_depth_rendering() + depth = obs._render_depth_meters(renderer, model, config) + crop = depth[config["cropY"]:config["cropY"] + config["height"], config["cropX"]:config["cropX"] + config["width"]] + expected = 2 / (1 - math.tan(0.3) * np.asarray(fixture["rays"])[:, 0]) + # macOS GL lacks ARB_clip_control; depth quantization at 2 m is ~60 um. + np.testing.assert_allclose(crop.reshape(-1), expected, atol=1e-4, rtol=0) From d15694c6358fe3716b5b743e5b1e350c44dc5367 Mon Sep 17 00:00:00 2001 From: kleinlau17 Date: Sat, 24 Oct 2026 20:10:45 +0800 Subject: [PATCH 2/4] test: isolate native GL checks from the pytest process --- tests/runtime/test_camera_projection.py | 30 ++++++++++++++++++++++++- 1 file changed, 29 insertions(+), 1 deletion(-) diff --git a/tests/runtime/test_camera_projection.py b/tests/runtime/test_camera_projection.py index 07709fb..c0fcd96 100644 --- a/tests/runtime/test_camera_projection.py +++ b/tests/runtime/test_camera_projection.py @@ -1,6 +1,8 @@ """Shared pinhole golden rays and real rendered depth, without policy weights.""" import json import math +import subprocess +import sys from pathlib import Path from types import SimpleNamespace @@ -65,11 +67,29 @@ def test_native_pixel_rays_without_gl(fixture): @pytest.mark.parametrize("fixture", GOLDEN["cases"], ids=lambda item: item["name"]) def test_native_rendered_depth(fixture): + # A missing/broken GL context can abort native code, bypassing try/except + # and poisoning subsequent Renderer attempts. Keep GL outside pytest. + result = subprocess.run( + [sys.executable, __file__, fixture["name"]], + capture_output=True, text=True, timeout=30, + ) + ready = "BOTLAB_RENDERER_READY" in result.stdout + if not ready and (result.returncode == 77 or result.returncode < 0): + pytest.skip( + f"MuJoCo GL renderer unavailable (probe exit {result.returncode}); " + f"set MUJOCO_GL=egl. {result.stdout[-1000:]} {result.stderr[-1000:]}" + ) + assert result.returncode == 0, result.stdout + result.stderr + + +def render_depth_case(fixture): model, data, config = camera_scene(fixture) try: renderer = mujoco.Renderer(model, width=config["fullWidth"], height=config["fullHeight"]) except Exception as error: - pytest.skip(f"MuJoCo GL renderer unavailable ({error}); set MUJOCO_GL=egl") + print(f"MuJoCo GL renderer unavailable: {error}", flush=True) + raise SystemExit(77) from error + print("BOTLAB_RENDERER_READY", flush=True) with renderer: obs._camera_render(renderer, model, data, config) renderer.enable_depth_rendering() @@ -78,3 +98,11 @@ def test_native_rendered_depth(fixture): expected = 2 / (1 - math.tan(0.3) * np.asarray(fixture["rays"])[:, 0]) # macOS GL lacks ARB_clip_control; depth quantization at 2 m is ~60 um. np.testing.assert_allclose(crop.reshape(-1), expected, atol=1e-4, rtol=0) + + +if __name__ == "__main__": + # Do not leave large core dumps when a headless GL driver aborts. + if sys.platform != "win32": + import resource + resource.setrlimit(resource.RLIMIT_CORE, (0, 0)) + render_depth_case(next(case for case in GOLDEN["cases"] if case["name"] == sys.argv[1])) From f678cca9a7ef38693fdc87e05d0e466ab9f7d784 Mon Sep 17 00:00:00 2001 From: kleinlau17 Date: Sat, 24 Oct 2026 20:23:44 +0800 Subject: [PATCH 3/4] fix: register scene clients atomically with initial delivery --- src/botlab/_runtime/_display.py | 22 ++++++------- tests/runtime/test_display.py | 56 +++++++++++++++++++++++++++++++++ 2 files changed, 65 insertions(+), 13 deletions(-) diff --git a/src/botlab/_runtime/_display.py b/src/botlab/_runtime/_display.py index 47b5913..105712e 100644 --- a/src/botlab/_runtime/_display.py +++ b/src/botlab/_runtime/_display.py @@ -117,22 +117,18 @@ def _handler(self, websocket): return scene = request.path == scene_path clients = self._scene_clients if scene else self._clients - if scene: + payload = ( + self._scene_payload if scene + else self._text_payload({"type": "meta", **self._metadata}) + ) + # Initial message and registration must be atomic with broadcasts. + # A receiver may start stepping as soon as it receives meta or scene. + with self._lock: try: - websocket.send(self._scene_payload) + websocket.send(payload) except ConnectionClosed: return - with self._lock: - clients.add(websocket) - else: - # Atomic with broadcasts: a client that received meta must already - # be registered before the stepping thread sends its next frame. - with self._lock: - try: - websocket.send(self._text_payload({"type": "meta", **self._metadata})) - except ConnectionClosed: - return - clients.add(websocket) + clients.add(websocket) try: try: for _message in websocket: diff --git a/tests/runtime/test_display.py b/tests/runtime/test_display.py index 318c679..71e62ab 100644 --- a/tests/runtime/test_display.py +++ b/tests/runtime/test_display.py @@ -1,7 +1,9 @@ """Local display server tests (tier B: needs websockets).""" import json +import threading import unittest +from types import SimpleNamespace import mujoco # noqa: E402 import numpy as np # noqa: E402 @@ -136,6 +138,60 @@ def model_and_data(): mujoco.mj_forward(model, data) return model, data + def test_first_frame_is_not_lost_during_initial_message_send(self): + for scene in (False, True): + with self.subTest(scene=scene): + self.assert_initial_message_keeps_first_frame(scene) + + def assert_initial_message_keeps_first_frame(self, scene): + server = _display.DisplayServer( + {}, scene_provider=SimpleNamespace( + payload='{"type":"scene"}', frame_size=11, frame=lambda _: b"scene-frame", + ), + ) + messages = [] + errors = [] + finished = threading.Event() + + def broadcast(): + try: + server.broadcast(0.5, np.zeros(1), np.zeros(1)) + except Exception as error: + errors.append(error) + finally: + finished.set() + + worker = threading.Thread(target=broadcast, daemon=True) + test = self + + class Client: + request = SimpleNamespace( + path=f"/display/{server._token}" + ("?scene=1" if scene else ""), + headers={}, + ) + + def send(self, payload): + messages.append(payload) + if isinstance(payload, str): + # Model a receiver starting a step before send returns. + # Without handshake locking, force that step to finish + # before the handler can register this client. + worker.start() + if not server._lock.locked(): + test.assertTrue(finished.wait(5)) + + def __iter__(self): + test.assertTrue(finished.wait(5)) + return iter(()) + + server._handler(Client()) + worker.join(timeout=5) + self.assertFalse(worker.is_alive()) + self.assertEqual(errors, []) + self.assertEqual(len(messages), 2) + self.assertIsInstance(messages[0], str) + self.assertIsInstance(messages[1], bytes) + def test_scene_exports_parser_model_and_world_transforms(self): model, data = self.model_and_data() provider = MujocoSceneProvider(model, data, mujoco, "Test scene") From 1f5c090938b685577df93215079263aa9a40fc24 Mon Sep 17 00:00:00 2001 From: kleinlau17 Date: Sat, 24 Oct 2026 21:40:39 +0800 Subject: [PATCH 4/4] test: explicitly select native viewer in wheel acceptance --- scripts/verify_wheel.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/verify_wheel.py b/scripts/verify_wheel.py index a5c7eb4..af99b8f 100644 --- a/scripts/verify_wheel.py +++ b/scripts/verify_wheel.py @@ -186,7 +186,7 @@ def run(label: str, command: list[str], *, extra_env: dict[str, str] | None = No if (out / "browser-cache").exists(): raise RuntimeError("compilation or native execution acquired a browser runtime") if not args.source_wheel: - run("native-viewer", [str(cli), "run", str(project), "--no-browser", + run("native-viewer", [str(cli), "run", str(project), "--native", "--no-browser", "--host", "127.0.0.1", "--port", "0"], extra_env=steps_env) if (out / "browser-cache").exists(): raise RuntimeError("the native viewer acquired a browser runtime")