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https://github.com/huggingface/lerobot.git
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Bartok
289e577fc7
* fix(utils): reject zero-norm / invalid quaternions in Rotation Zero or non-finite inputs previously slipped through and produced NaN rotation matrices on later convert/apply. Validate shape and scept for norm > 0 before normalizing. * fix(teleop): degrade phone AR quat parse like missing pose Address review on #3988: Rotation.from_quat now rejects zero/NaN quaternions. Wrap HEBI iOS ARKit permission in ValueError and return the existing (False, None, None, None) path so teleop does not die mid-session before tracking is ready. * style: ruff format long ValueError in rotation.py --------- Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
47 lines
1.4 KiB
Python
47 lines
1.4 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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import numpy as np
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import pytest
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from lerobot.utils.rotation import Rotation
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def test_zero_quaternion_rejected():
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with pytest.raises(ValueError, match="non-zero"):
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Rotation(np.zeros(4))
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def test_non_finite_quaternion_rejected():
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with pytest.raises(ValueError, match="non-zero|finite"):
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Rotation(np.array([np.nan, 0.0, 0.0, 1.0]))
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def test_wrong_shape_rejected():
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with pytest.raises(ValueError, match="shape"):
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Rotation(np.array([1.0, 0.0, 0.0]))
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def test_identity_roundtrip():
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r = Rotation.from_rotvec(np.zeros(3))
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assert np.allclose(r.as_rotvec(), 0.0)
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assert np.allclose(r.as_matrix(), np.eye(3))
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def test_rotvec_roundtrip():
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rotvec = np.array([0.1, -0.2, 0.3])
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r = Rotation.from_rotvec(rotvec)
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assert np.allclose(r.as_rotvec(), rotvec, atol=1e-6)
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