Integration test test_pyroki_real_service sends a 4x4 matrix where /ik expects a 7-vector

Start in tests/integrations/test_pyroki_integration.py at test_pyroki_real_service and compare its request with the 7-float contract in cap/serving/launch_pyroki_server.py. Run ASPIRE_INTEGRATION_REAL=1 .venv-libero/bin/python -m pytest tests/integrations/test_pyroki_integration.py -q against the documented server. Done means the integration test receives joint positions and the unit-test fake verifies a payload length of 7.

Summary

test_pyroki_real_service can never pass against a running PyRoKi server. It builds the IK request from a 4x4 homogeneous transform, but the server declares target_pose_wxyz_xyz as a flat list of 7 floats, so FastAPI rejects the body with HTTP 422 before any IK is attempted.

Where

• tests/integrations/test_pyroki_integration.py:56 — q = ik_solve(np.eye(4))
• cap/serving/launch_pyroki_server.py:183 — target_pose_wxyz_xyz: list[float] # length 7 (wxyz + xyz)

Reproduce

Start the documented perception servers, then:

ASPIRE_INTEGRATION_REAL=1 .venv-libero/bin/python -m pytest \
  tests/integrations/test_pyroki_integration.py -q

RuntimeError: Request to http://127.0.0.1:8116/ik failed after 4 retries / 15.00s.
Last error: 422 Client Error: Unprocessable Entity for url: http://127.0.0.1:8116/ik

Posting both shapes to the same live server isolates it to the payload:

4x4 matrix (what the test sends) -> HTTP 422
  {"detail":[{"type":"float_type","loc":["body","target_pose_wxyz_xyz",0],
   "msg":"Input should be a valid number","input":[1.0,0.0,0.0,0.0]}, ...

7-vector [1,0,0,0, 0.4,0,0.4]    -> HTTP 200
  {"joint_positions":[0.8286,0.1814,-0.7436,-2.7072, ...

Why it went unnoticed

test_init_pyroki_returns_ik_client, directly above in the same file, also passes np.eye(4) — but it monkeypatches post_with_retries with a fake that only asserts "target_pose_wxyz_xyz" in payload. The fake never checks the shape, so the unit test stays green and effectively documents the wrong contract. The integration test is the only one that could catch the mismatch, and it is gated behind ASPIRE_INTEGRATION_REAL=1.

Suggested fix

Send a 7-vector in the integration test:

q = ik_solve(np.array([1.0, 0.0, 0.0, 0.0, 0.4, 0.0, 0.4]))

Verified end-to-end through init_pyroki(...) against a live server: returns shape (8,), which satisfies the existing assert q.shape[0] >= 6.

It is also worth tightening the unit-test fake to assert len(payload["target_pose_wxyz_xyz"]) == 7, so a mock can no longer hide a shape mismatch of this kind.

Environment

Fresh clone at f4c8939, Linux x86-64, .venv-libero (Python 3.12). PyRoKi started via the documented command in scripts/common/start_perception_servers.sh (--robot panda_description --target-link panda_hand, port 8116).