Allow non-word characters in viz_tiptop_run object label regex

[williamshen-nz]

Summary

Fixes a crash in viz_tiptop_run when a plan label contains punctuation, with a unit test. Unrelated to RecGen; split out of #28.

The bug

The gripper "close" action parses the object name from a label like Pick(crackers_in_wrapper, grasp1, q1) using \w+, which excludes apostrophes. Pick(Rubik's_cube, grasp1, q1) captured only Rubik, then crashed the object lookup with KeyError.

Changes

• Match up to the first comma (\w+\(([^,]+),) instead of \w+, and .strip() the result — so apostrophes survive and surrounding whitespace can't leak into the obj_to_current_pose key (the latter per review feedback on the original [^,]+ capture).
• Pull the parsing into a parse_grasped_object() helper in viz_tiptop_run and cover it in tests/test_plan_labels.py (apostrophe / whitespace / no-space / other operators / unparseable labels). The test imports viz_tiptop_run, so it also smoke-checks that the module imports cleanly.

Verification

pixi run test-unit → 17 passed.

[Copilot]

Pull request overview

Fixes a label-parsing bug in the viz_tiptop_run visualization script so object names containing punctuation (e.g. apostrophes) are correctly extracted from cuTAMP-style action labels, avoiding downstream lookup failures during plan playback.

Changes:

• Update the gripper-close label regex to capture the first argument up to the next comma (instead of \w+), preserving non-word characters in object names.
• Expand inline comments to document the failure mode and rationale.

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[Copilot]

Pull request overview

Copilot reviewed 2 out of 2 changed files in this pull request and generated no new comments.

Comments suppressed due to low confidence (2)

tiptop/scripts/viz_tiptop_run.py:38

• The ValueError message interpolates the raw label, which can hide leading/trailing whitespace (the exact thing this parser is guarding against) and can be hard to read if the label contains quotes or escapes. Using {!r} makes debugging and log output unambiguous.

    match = re.match(r"\w+\(([^,]+),", label)
    if match is None:
        raise ValueError(f"Could not parse object name from label: {label}")
    return match.group(1).strip()

tests/test_plan_labels.py:25

• This test imports tiptop.scripts.viz_tiptop_run at module import time, which pulls in heavy transitive deps (cv2/open3d/rerun/torch/cutamp) during pytest collection. Other tests in this repo intentionally use local imports to avoid slow transitive imports affecting unrelated tests (see tests/test_tiptop_h5.py:27). Consider switching to local imports inside the test functions so collection stays lightweight.

import pytest

from tiptop.scripts.viz_tiptop_run import parse_grasped_object

[williamshen-nz]

Addressed both low-confidence Copilot suggestions in the latest commit: the parse error now uses {label!r} (so whitespace/quotes in a bad label are visible), and the test imports viz_tiptop_run locally inside the test functions, matching the repo's existing convention in tests/test_tiptop_h5.py so collection stays light. The import still runs when the tests execute, so it keeps doubling as a smoke check.

[Copilot]

Pull request overview

Copilot reviewed 2 out of 2 changed files in this pull request and generated no new comments.