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fix(tools): resolve GetGrabbingPointTool forward ref in GetObjectPositionsTool #878

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fix(tools): resolve GetGrabbingPointTool forward ref in GetObjectPositionsTool #878

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d6ff55f
fix(tools): resolve GetGrabbingPointTool forward ref in GetObjectPosi…
RoboX2020 Oct 5, 2026
72b8662
test(tools): cover GetObjectPositionsTool forward ref resolution
RoboX2020 Oct 5, 2026
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13 changes: 13 additions & 0 deletions src/rai_core/rai/tools/ros2/manipulation/custom.py
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Original file line number Diff line number Diff line change
Expand Up @@ -454,3 +454,16 @@ def _run(self):
return "Arm successfully reset."
else:
return "Failed to reset the arm."


# GetGrabbingPointTool is only imported for type checking above (to avoid a
# circular import), so Pydantic cannot resolve the "GetGrabbingPointTool"
# annotation on GetObjectPositionsTool by itself. Resolve it here once the real
# class can be imported. If rai_perception is not installed, the tool stays
# unresolved, as before.
try:
from rai_perception.tools import GetGrabbingPointTool # noqa: F811

GetObjectPositionsTool.model_rebuild()
except ImportError:
pass
10 changes: 10 additions & 0 deletions tests/tools/ros2/test_manipulation_custom.py
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Original file line number Diff line number Diff line change
Expand Up @@ -420,3 +420,13 @@ def test_objects_detected(
camera_info_topic="/camera/rgb/camera_info",
object_name="cup",
)


def test_get_object_positions_tool_model_is_fully_defined():
"""Regression test: the forward reference to GetGrabbingPointTool must resolve.

Building the tool with model_construct() skips this check, so look at the
Pydantic completeness flag directly.
"""
pytest.importorskip("rai_perception.tools")
assert GetObjectPositionsTool.__pydantic_complete__
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