merge: imf attnres policy

# Conflicts:
#	roboimi/demos/vla_scripts/eval_vla.py
#	roboimi/envs/double_base.py

tests/test_eval_vla_headless.py

@@ -90,6 +90,36 @@ class _FakeRenderer:
 
 
 class EvalVLAHeadlessTest(unittest.TestCase):
+    def test_prepare_observation_skips_resize_when_image_resize_shape_is_none(self):
+        obs = {
+            "images": {
+                "front": np.arange(8 * 8 * 3, dtype=np.uint8).reshape(8, 8, 3),
+            },
+            "qpos": np.zeros(16, dtype=np.float32),
+        }
+
+        with mock.patch("cv2.resize", side_effect=AssertionError("resize should be skipped")):
+            prepared = eval_vla.prepare_observation(
+                obs,
+                ["front"],
+                image_resize_shape=None,
+            )
+
+        self.assertEqual(tuple(prepared["images"]["front"].shape), (3, 8, 8))
+        self.assertEqual(tuple(prepared["qpos"].shape), (16,))
+
+    def test_headless_eval_sets_mujoco_gl_to_egl_when_display_missing(self):
+        cfg = OmegaConf.create({"eval": {"headless": True}})
+        with mock.patch.dict(eval_vla.os.environ, {}, clear=True):
+            eval_vla._configure_headless_mujoco_gl(cfg.eval)
+            self.assertEqual(eval_vla.os.environ.get("MUJOCO_GL"), "egl")
+
+    def test_headless_eval_preserves_existing_mujoco_gl(self):
+        cfg = OmegaConf.create({"eval": {"headless": True}})
+        with mock.patch.dict(eval_vla.os.environ, {"MUJOCO_GL": "osmesa"}, clear=True):
+            eval_vla._configure_headless_mujoco_gl(cfg.eval)
+            self.assertEqual(eval_vla.os.environ.get("MUJOCO_GL"), "osmesa")
+
     def test_eval_config_exposes_headless_default(self):
         eval_cfg = OmegaConf.load(Path("roboimi/vla/conf/eval/eval.yaml"))
 
@@ -117,6 +147,49 @@ class EvalVLAHeadlessTest(unittest.TestCase):
             cam_view="left_side",
         )
 
+    def test_headless_sync_camera_capture_populates_images_without_gui_calls(self):
+        env = DualDianaMed.__new__(DualDianaMed)
+        env.mj_model = object()
+        env.mj_data = object()
+        env.exit_flag = False
+        env.is_render = False
+        env.cam = 'angle'
+        env.r_vis = None
+        env.l_vis = None
+        env.top = None
+        env.angle = None
+        env.front = None
+        env._offscreen_renderer = None
+
+        with mock.patch(
+            'roboimi.envs.double_base.mj.Renderer',
+            side_effect=lambda *args, **kwargs: _FakeRenderer(env),
+        ) as renderer_cls, mock.patch('roboimi.envs.double_base.cv2.namedWindow') as named_window, mock.patch(
+            'roboimi.envs.double_base.cv2.imshow'
+        ) as imshow, mock.patch('roboimi.envs.double_base.cv2.waitKey') as wait_key:
+            env._update_camera_images_sync()
+
+        renderer_cls.assert_called_once()
+        named_window.assert_not_called()
+        imshow.assert_not_called()
+        wait_key.assert_not_called()
+        self.assertIsNotNone(env.r_vis)
+        self.assertIsNotNone(env.l_vis)
+        self.assertIsNotNone(env.top)
+        self.assertIsNotNone(env.angle)
+        self.assertIsNotNone(env.front)
+
+    def test_cam_start_skips_background_thread_when_headless(self):
+        env = DualDianaMed.__new__(DualDianaMed)
+        env.is_render = False
+        env.cam_thread = None
+
+        with mock.patch('roboimi.envs.double_base.threading.Thread') as thread_cls:
+            env.cam_start()
+
+        thread_cls.assert_not_called()
+        self.assertIsNone(env.cam_thread)
+
     def test_camera_viewer_headless_updates_images_without_gui_calls(self):
         env = DualDianaMed.__new__(DualDianaMed)
         env.mj_model = object()