Steven Palma dd08d4eb53 fix(robot): type FK-to-EE action features as ACTION not STATE (#4213) ...

* 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>

2026-07-29 18:06:01 +02:00

..

test_reachy2.py

feat(robots): use read_latest() camera (#2987)

2026-02-18 20:05:15 +01:00

test_rebot_b601_follower.py

Feat(robot): add MIT control mode to ReBot (#3778)

2026-06-30 17:17:50 +02:00

test_robot_kinematic_processor.py

fix(robot): type FK-to-EE action features as ACTION not STATE (#4213)

2026-07-29 18:06:01 +02:00

test_so100_follower.py

fix(robots): retry SO follower/leader bus reads on transient Feetech errors (#4207)

2026-07-29 15:20:14 +02:00

test_unitree_g1.py

feat(robots): Unitree G1 WBC implementation (#2876)

2026-03-08 11:33:24 +01:00