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fix(converter): skip identity and ik failure steps #305

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Merged
juelg merged 1 commit into from
May 8, 2026
Merged

fix(converter): skip identity and ik failure steps #305

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12 changes: 8 additions & 4 deletions python/rcs/lerobot_joint_converter.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
from __future__ import annotations

import warnings
from dataclasses import dataclass
from pathlib import Path
from typing import Any, Iterable
Expand Down Expand Up @@ -269,7 +270,7 @@ def _build_observation_state(self, row: pd.Series) -> np.ndarray:

return np.concatenate(vectors).astype(np.float32)

def _convert_action_to_joint_space(self, row: pd.Series) -> np.ndarray:
def _convert_action_to_joint_space(self, row: pd.Series) -> np.ndarray | None:
actions = []
for robot_key in self.robot_keys:
observation_joints = row[f"observation_joints_{robot_key}"]
Expand Down Expand Up @@ -309,8 +310,9 @@ def _convert_action_to_joint_space(self, row: pd.Series) -> np.ndarray:
target_pose, observation_joints_vec, tcp_offset=self.tcp_offset
)
if ik_joints is None:
msg = f"IK failed for robot '{robot_key}' at step {row['step']}"
raise ValueError(msg)
msg = f"IK failed for robot '{robot_key}' at step {row['step']}, ignoring step"
warnings.warn(msg, stacklevel=1)
return None
arm_action_vec = np.asarray(ik_joints, dtype=np.float32)

actions.append(np.concatenate([arm_action_vec, action_gripper_vec]).astype(np.float32))
Expand All @@ -329,11 +331,13 @@ def _prepare_transition_table(self, table: pd.DataFrame) -> pd.DataFrame:
df["observation_state"] = df.apply(self._build_observation_state, axis=1)
df["action_vector"] = df.apply(self._convert_action_to_joint_space, axis=1)

df = df[df["action_vector"].notna()] # noqa: PD901

prev_action: np.ndarray | None = None
keep_mask = []
for action_vec in df["action_vector"]:
assert isinstance(action_vec, np.ndarray)
keep_mask.append(prev_action is None or not np.array_equal(action_vec, prev_action))
keep_mask.append(prev_action is None or not np.allclose(action_vec, prev_action, atol=1e-4, rtol=0))
prev_action = action_vec

return df.loc[keep_mask].reset_index(drop=True)
Expand Down
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