feat(pi05): compose relative poses in SE3

tests/processor/test_se3_relative_actions.py

@@ -0,0 +1,70 @@
+import math
+
+import pytest
+import torch
+
+from lerobot.processor.relative_action_processor import (
+    to_absolute_actions,
+    to_absolute_se3_pose,
+    to_relative_actions,
+    to_relative_se3_pose,
+)
+
+POSE_GROUP = [list(range(6))]
+
+
+def test_se3_translation_is_expressed_in_reference_frame():
+    reference = torch.tensor([[1.0, 2.0, 3.0, 0.0, 0.0, math.pi / 2]])
+    target = torch.tensor([[1.0, 3.0, 3.0, 0.0, 0.0, math.pi / 2]])
+
+    relative = to_relative_se3_pose(target, reference)
+
+    torch.testing.assert_close(relative, torch.tensor([[1.0, 0.0, 0.0, 0.0, 0.0, 0.0]]), atol=1e-6, rtol=1e-6)
+
+
+def test_se3_pose_roundtrip_for_batched_chunks():
+    torch.manual_seed(0)
+    reference = torch.randn(4, 6)
+    reference[:, 3:] *= 0.8
+    target = torch.randn(4, 11, 6)
+    target[..., 3:] *= 0.8
+
+    relative = to_relative_se3_pose(target, reference.unsqueeze(1))
+    recovered = to_absolute_se3_pose(relative, reference.unsqueeze(1))
+
+    torch.testing.assert_close(recovered, target, atol=2e-5, rtol=2e-5)
+
+
+def test_mixed_se3_pose_and_absolute_gripper_roundtrip():
+    reference = torch.tensor([[0.2, -0.1, 0.4, 0.1, 0.2, -0.3, 0.06]])
+    target = torch.tensor([[[0.3, 0.2, 0.5, -0.2, 0.1, 0.4, 0.03], [0.1, -0.3, 0.2, 0.5, -0.1, 0.2, 0.05]]])
+    mask = [True, True, True, True, True, True, False]
+
+    relative = to_relative_actions(
+        target,
+        reference,
+        mask,
+        pose_representation="se3",
+        se3_pose_groups=POSE_GROUP,
+    )
+    recovered = to_absolute_actions(
+        relative,
+        reference,
+        mask,
+        pose_representation="se3",
+        se3_pose_groups=POSE_GROUP,
+    )
+
+    torch.testing.assert_close(relative[..., 6], target[..., 6])
+    torch.testing.assert_close(recovered, target, atol=2e-5, rtol=2e-5)
+
+
+def test_se3_pose_group_cannot_be_partially_relative():
+    with pytest.raises(ValueError, match="wholly relative or wholly absolute"):
+        to_relative_actions(
+            torch.zeros(1, 7),
+            torch.zeros(1, 7),
+            [True, True, True, False, False, False, False],
+            pose_representation="se3",
+            se3_pose_groups=POSE_GROUP,
+        )