fix(retargeters): guard against invalid controller grip poses in Se3 retargeters

[hougantc-nvda]

Description

A connected controller with pose tracking lost (e.g. resting on a table) produces a present ControllerInput group with grip_is_valid=False and a zero-norm grip orientation. Se3AbsRetargeter and Se3RelRetargeter fed that quaternion straight to Rotation.from_quat, raising ValueError: Found zero norm quaternions and killing the retargeting pipeline (in pipelined mode the async retarget worker dies permanently, forcing consumers into session teardown/restart loops).

This change guards the controller branch with GRIP_IS_VALID, mirroring the hand branch's joint_valid handling:

• Abs: holds the last pose (same as the is_none path).
• Rel: emits a zero delta and re-arms the first-frame baseline so the first valid frame after recovery does not jump.

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)
• Documentation update

Testing

Added test/python/test_se3_retargeter_pose_validity.py covering both retargeters: invalid grip pose no longer raises, Abs holds the last valid pose, Rel emits a zero delta and does not jump on the first valid frame after recovery.

Checklist

• I have read and understood the contribution guidelines
• I have run the linter and formatter with SKIP=check-copyright-year pre-commit run --all-files
• I have made corresponding changes to the documentation
• I have added tests that prove my fix/feature works (or explained why not)
• I have signed off all my commits (git commit -s) per the DCO

🤖 Generated with Claude Code

Summary by CodeRabbit

• Bug Fixes
  • Prevented retargeting from failing when a controller reports an invalid grip pose.
  • Absolute end-effector retargeting now keeps the last known pose during invalid input and resumes normally once valid input returns.
  • Relative end-effector retargeting now outputs a zero delta on invalid input and re-baselines cleanly on the next valid frame.
• Tests
  • Added coverage for invalid-grip handling and recovery behavior in both absolute and relative retargeting flows.

[coderabbitai]

Important

Review skipped

Auto incremental reviews are disabled on this repository.

Please check the settings in the CodeRabbit UI or the .coderabbit.yaml file in this repository. To trigger a single review, invoke the @coderabbitai review command.

⚙️ Run configuration

Configuration used: Path: .coderabbit.yaml

Review profile: CHILL

Plan: Enterprise

Run ID: cdb4960e-2930-453a-9406-0063e06e57e4

You can disable this status message by setting the reviews.review_status to false in the CodeRabbit configuration file.

Use the checkbox below for a quick retry:

• 🔍 Trigger review

📝 Walkthrough

Walkthrough

This PR adds a guard in both Se3AbsRetargeter._compute_fn and Se3RelRetargeter._compute_fn to check ControllerInputIndex.GRIP_IS_VALID. When invalid, the absolute retargeter emits the cached last pose and returns early; the relative retargeter re-arms its first-frame baseline, emits a zero delta, and returns early. A new test module validates these behaviors for both retargeters across invalid-grip and recovery scenarios.

Estimated code review effort: 2 (Simple) | ~12 minutes

Sequence Diagram(s)

sequenceDiagram
  participant Controller
  participant Se3AbsRetargeter
  participant Se3RelRetargeter

  Controller->>Se3AbsRetargeter: ControllerInput (GRIP_IS_VALID=false)
  Se3AbsRetargeter->>Se3AbsRetargeter: write ee_pose from _last_pose
  Se3AbsRetargeter-->>Controller: return early

  Controller->>Se3RelRetargeter: ControllerInput (GRIP_IS_VALID=false)
  Se3RelRetargeter->>Se3RelRetargeter: set _first_frame=True, ee_delta=0
  Se3RelRetargeter-->>Controller: return early

  Controller->>Se3RelRetargeter: ControllerInput (GRIP_IS_VALID=true, next frame)
  Se3RelRetargeter->>Se3RelRetargeter: re-baseline from valid input
  Se3RelRetargeter-->>Controller: emit ee_delta (no jump)

Loading

Related issues: None referenced.

Related PRs: None referenced.

Suggested labels: bug, tests

Suggested reviewers: None identified from provided data.

🐇 A quaternion of zero, a grip gone astray,
No crash, no panic — we hold pose at bay.
Rebaseline gently when valid frames return,
No jumpy deltas, no lessons unlearned.
Hop along, retargeter, the fix is in play!

🚥 Pre-merge checks | ✅ 5

✅ Passed checks (5 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title clearly matches the main change: adding invalid grip pose handling in Se3 retargeters.
Docstring Coverage	✅ Passed	No functions found in the changed files to evaluate docstring coverage. Skipping docstring coverage check.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.

✨ Finishing Touches

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Commit unit tests in branch hougantc/se3-controller-pose-validity

---

_{Comment @coderabbitai help to get the list of available commands.}

[coderabbitai]

Actionable comments posted: 1

🤖 Prompt for all review comments with AI agents

Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

Inline comments:
In `@src/retargeters/se3_retargeter.py`:
- Around line 394-401: Reset the retargeter’s smoothing state when grip tracking
is invalid in se3_retargeter.py. In the invalid-grip early return inside the SE3
retargeter logic, do not only set _first_frame; also clear the cached smoothing
buffers (_smoothed_delta_pos and _smoothed_delta_rot, or their equivalents in
the class) so the next valid sample starts clean instead of blending with stale
motion. Use the existing invalid-input branch around the grip validity check to
locate the fix.

🪄 Autofix (Beta)

Fix all unresolved CodeRabbit comments on this PR:

• Push a commit to this branch (recommended)
• Create a new PR with the fixes

---

ℹ️ Review info

⚙️ Run configuration

Configuration used: Path: .coderabbit.yaml

Review profile: CHILL

Plan: Enterprise

Run ID: cfc47aaf-1540-4bc1-b9fb-d7511ef6cb6f

📥 Commits

Reviewing files that changed from the base of the PR and between 5da61a9 and 1124d99.

📒 Files selected for processing (2)

• src/core/retargeting_engine_tests/python/test_se3_retargeter_pose_validity.py
• src/retargeters/se3_retargeter.py