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Add linear constraint config to multi-poses-execution-switch #17

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28 changes: 22 additions & 6 deletions README.md
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,10 @@ Moves an arm (or any movable component) between a list of named poses via the Mo
"component_name": "<string>",
"motion": "<string>",
"reference_frame": "<string>",
"linear_constraint": {
"line_tolerance_mm": <float>,
"orientation_tolerance_degs": <float>
},
"poses": [
{
"pose_name": "<string>",
Expand All @@ -31,22 +35,34 @@ Moves an arm (or any movable component) between a list of named poses via the Mo
}
```

| Name | Type | Required | Description |
| ----------------- | ------ | -------- | --------------------------------------------------------------------------------------- |
| `component_name` | string | Yes | Name of the arm component to move. |
| `motion` | string | Yes | Name of the motion service (typically `"builtin"`). |
| `reference_frame` | string | No | Reference frame for poses. Defaults to `"world"`. |
| `poses` | array | Yes | One or more named poses. Each pose needs a `pose_name` and position/orientation fields. |
| Name | Type | Required | Description |
| ------------------- | ------ | -------- | --------------------------------------------------------------------------------------- |
| `component_name` | string | Yes | Name of the arm component to move. |
| `motion` | string | Yes | Name of the motion service (typically `"builtin"`). |
| `reference_frame` | string | No | Reference frame for poses. Defaults to `"world"`. |
| `linear_constraint` | object | No | When set, forces the arm to move in a straight line between poses. |
| `poses` | array | Yes | One or more named poses. Each pose needs a `pose_name` and position/orientation fields. |

**Pose fields:** `x`, `y`, `z` are in millimeters. `o_x`, `o_y`, `o_z` define the orientation axis, `theta_degrees` is the rotation angle in degrees.

**Linear constraint fields:**

| Name | Type | Description |
| --------------------------- | ----- | ------------------------------------------------------------------------ |
| `line_tolerance_mm` | float | Max deviation from the straight-line path between start and goal, in mm. |
| `orientation_tolerance_degs` | float | Max orientation deviation allowed during the movement, in degrees. |

### Example Configuration

```json
{
"component_name": "my-arm",
"motion": "builtin",
"reference_frame": "world",
"linear_constraint": {
"line_tolerance_mm": 1,
"orientation_tolerance_degs": 2
},
"poses": [
{
"pose_name": "home",
Expand Down
2 changes: 1 addition & 1 deletion go.mod
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@ go 1.25.1
require (
github.com/golang/geo v0.0.0-20230421003525-6adc56603217
go.viam.com/rdk v0.115.0
go.viam.com/utils v0.4.3
)

require (
Expand Down Expand Up @@ -173,7 +174,6 @@ require (
go.uber.org/zap v1.27.0 // indirect
go.viam.com/api v0.1.519 // indirect
go.viam.com/test v1.2.4 // indirect
go.viam.com/utils v0.4.3 // indirect
go4.org/unsafe/assume-no-moving-gc v0.0.0-20230525183740-e7c30c78aeb2 // indirect
golang.org/x/crypto v0.45.0 // indirect
golang.org/x/exp v0.0.0-20251113190631-e25ba8c21ef6 // indirect
Expand Down
31 changes: 25 additions & 6 deletions multiposesexecutionswitch/multiposesexecutionswitch.go
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@ import (
"go.viam.com/rdk/logging"
"go.viam.com/rdk/referenceframe"
"go.viam.com/rdk/resource"
"go.viam.com/rdk/motionplan"
"go.viam.com/rdk/services/motion"
"go.viam.com/rdk/spatialmath"
)
Expand All @@ -30,10 +31,16 @@ func init() {
}

type Config struct {
ReferenceFrame string `json:"reference_frame"`
ComponentName string `json:"component_name"`
Motion string `json:"motion"`
Poses []PoseConf `json:"poses"`
ReferenceFrame string `json:"reference_frame"`
ComponentName string `json:"component_name"`
Motion string `json:"motion"`
Poses []PoseConf `json:"poses"`
LinearConstraint *LinearConstraintConf `json:"linear_constraint,omitempty"`
}

type LinearConstraintConf struct {
LineToleranceMm float64 `json:"line_tolerance_mm"`
OrientationToleranceDegs float64 `json:"orientation_tolerance_degs"`
}

type PoseConf struct {
Expand Down Expand Up @@ -176,10 +183,22 @@ func (s *multiPosesExecutionSwitch) goToPosition(ctx context.Context, position u
)
destination := referenceframe.NewPoseInFrame(s.cfg.ReferenceFrame, pose)

_, err := s.motion.Move(ctx, motion.MoveReq{
moveReq := motion.MoveReq{
ComponentName: s.cfg.ComponentName,
Destination: destination,
})
}
if s.cfg.LinearConstraint != nil {
moveReq.Constraints = &motionplan.Constraints{
LinearConstraint: []motionplan.LinearConstraint{
{
LineToleranceMm: s.cfg.LinearConstraint.LineToleranceMm,
OrientationToleranceDegs: s.cfg.LinearConstraint.OrientationToleranceDegs,
},
},
}
}

_, err := s.motion.Move(ctx, moveReq)
if err != nil {
return fmt.Errorf("failed to move to pose %q: %w", pc.PoseName, err)
}
Expand Down