mirror of
https://github.com/huggingface/lerobot.git
synced 2026-08-01 14:09:39 +00:00
Lin Junrong
732a12108e
Four kinematic processor steps read the observation as
observation = self.transition.get(TransitionKey.OBSERVATION).copy()
if observation is None:
raise ValueError("Joints observation is require for computing robot kinematics")
so `.copy()` runs first and the guard below it is unreachable. A transition
without an observation raises `AttributeError: 'NoneType' object has no
attribute 'copy'` instead of the intended message.
That transition is not hypothetical: `RobotProcessorPipeline.process_action`
builds one with `create_transition(action=action)`, which sets
`TransitionKey.OBSERVATION` to None.
Reads the value first, checks it, then copies. Affects EEReferenceAndDelta,
InverseKinematicsEEToJoints, GripperVelocityToJoint and InverseKinematicsRLStep.
Adds a parametrised regression test covering all four; each fails with the
AttributeError if the fix is reverted.
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
86 lines
3.3 KiB
Python
86 lines
3.3 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.processor.converters import create_transition
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from lerobot.robots.so_follower.robot_kinematic_processor import (
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EEReferenceAndDelta,
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ForwardKinematicsJointsToEEAction,
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ForwardKinematicsJointsToEEObservation,
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GripperVelocityToJoint,
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InverseKinematicsEEToJoints,
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InverseKinematicsRLStep,
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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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EE_ACTION = dict.fromkeys(EE_KEYS, 0.0)
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@pytest.mark.parametrize(
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("step", "action"),
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[
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(
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EEReferenceAndDelta(kinematics=None, end_effector_step_sizes={}, motor_names=MOTOR_NAMES),
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dict(EE_ACTION),
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),
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(InverseKinematicsEEToJoints(kinematics=None, motor_names=MOTOR_NAMES), dict(EE_ACTION)),
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(GripperVelocityToJoint(), {**EE_ACTION, "ee.gripper_vel": 0.0}),
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(InverseKinematicsRLStep(kinematics=None, motor_names=MOTOR_NAMES), dict(EE_ACTION)),
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],
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ids=[
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"ee_reference_and_delta",
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"inverse_kinematics_ee_to_joints",
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"gripper_velocity_to_joint",
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"inverse_kinematics_rl_step",
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],
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)
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def test_missing_observation_raises_value_error(step, action):
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"""A transition without an observation must surface the documented ValueError.
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`RobotProcessorPipeline.process_action` builds its transition with
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`create_transition(action=...)`, which sets `TransitionKey.OBSERVATION` to None.
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These steps used to call `.copy()` on that before the None check, so the guard
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below them was unreachable and an AttributeError escaped instead.
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"""
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transition = create_transition(action=action)
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with pytest.raises(ValueError, match="Joints observation"):
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step(transition)
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