mirror of
https://github.com/huggingface/lerobot.git
synced 2026-07-29 20:49:42 +00:00
Steven Palma
dd08d4eb53
* fix(robot): type FK-to-EE action features as ACTION not STATE ForwardKinematicsJointsToEEAction.transform_features declared its end-effector action features (ee.x/y/z/wx/wy/wz/gripper_pos) with FeatureType.STATE, copied verbatim from the sibling ForwardKinematicsJointsToEEObservation (where STATE is correct for OBSERVATION features). Every other action-producing step in this file (EEReferenceAndDelta, InverseKinematicsEEToJoints, InverseKinematicsRLStep) types its ACTION-bucket features as FeatureType.ACTION. The mismatch mis-classifies the converted EE actions as state, which propagates a wrong feature schema to downstream consumers keyed on FeatureType (e.g. normalization norm_map, policy input/output feature classification). * test(robot): FK-to-EE step feature-type contract (action vs observation) Asserts ForwardKinematicsJointsToEEAction emits EE features in the ACTION bucket typed FeatureType.ACTION, and ForwardKinematicsJointsToEEObservation emits them in the OBSERVATION bucket typed FeatureType.STATE. * chore: delete user file * chore(processor): reduce verbosity --------- Co-authored-by: Jaagat-P <jaagatp05@gmail.com>
46 lines
1.9 KiB
Python
46 lines
1.9 KiB
Python
#!/usr/bin/env python
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# Copyright 2025 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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import pytest
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from lerobot.configs import FeatureType, PipelineFeatureType, PolicyFeature
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from lerobot.robots.so_follower.robot_kinematic_processor import (
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ForwardKinematicsJointsToEEAction,
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ForwardKinematicsJointsToEEObservation,
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)
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MOTOR_NAMES = ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]
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EE_KEYS = {f"ee.{k}" for k in ["x", "y", "z", "wx", "wy", "wz", "gripper_pos"]}
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def _joint_bucket(feature_type: FeatureType) -> dict[str, PolicyFeature]:
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return {f"{n}.pos": PolicyFeature(type=feature_type, shape=(1,)) for n in MOTOR_NAMES}
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@pytest.mark.parametrize(
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("step_cls", "bucket", "feature_type"),
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[
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(ForwardKinematicsJointsToEEAction, PipelineFeatureType.ACTION, FeatureType.ACTION),
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(ForwardKinematicsJointsToEEObservation, PipelineFeatureType.OBSERVATION, FeatureType.STATE),
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],
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)
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def test_fk_feature_schema(step_cls, bucket, feature_type):
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features = {PipelineFeatureType.ACTION: {}, PipelineFeatureType.OBSERVATION: {}}
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features[bucket] = _joint_bucket(feature_type)
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out = step_cls(kinematics=None, motor_names=MOTOR_NAMES).transform_features(features)[bucket]
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assert set(out) == EE_KEYS
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assert {feature.type for feature in out.values()} == {feature_type}
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