Source code for concepts.dm.crowhat.robots.robot_interfaces

#! /usr/bin/env python3
# -*- coding: utf-8 -*-
# File   : robot_interfaces.py
# Author : Jiayuan Mao
# Email  : maojiayuan@gmail.com
# Date   : 03/30/2024
#
# This file is part of Project Concepts.
# Distributed under terms of the MIT license.

from typing import Any, Dict
from concepts.dm.crow.interfaces.controller_interface import CrowControllerExecutionError

__all__ = [
    'RobotControllerExecutionFailed', 'RobotControllerExecutionContext', 'RobotArmJointTrajectory',
    'RobotControllerInterfaceBase',
    'PrimitiveRobotControllerInterface', 'ContactPrimitiveRobotControlInterface'
]




class RobotControllerExecutionFailed(CrowControllerExecutionError):
    pass





class RobotControllerExecutionContext(object):


    def __init__(self, controller_name, *args, **kwargs):
        self.controller_name = controller_name
        self.args = args
        self.kwargs = kwargs


    def __enter__(self):
        return self

    def __exit__(self, exc_type, exc_val, exc_tb):
        return False



    def monitor(self, rv: bool):
        if not rv:
            raise RobotControllerExecutionFailed(f"Execution of {self.controller_name} failed. Args: {self.args}, kwargs: {self.kwargs}")






class RobotArmJointTrajectory(list):
    pass





class RobotControllerInterfaceBase(object):


    def __init__(self):
        self._default_parameters = dict()


    @property
    def default_parameters(self) -> Dict[str, Dict[str, Any]]:
        """Get the default parameters for each primitive."""
        return self._default_parameters



    def set_default_parameters(self, primitive: str, **kwargs):
        """Set the default parameters for a specific primitive."""
        if  primitive not in self._default_parameters:
            self._default_parameters[primitive] = dict()
        self._default_parameters[primitive].update(kwargs)




    def get_update_default_parameters(self, primitive: str, kwargs_: Dict[str, Any]) -> None:
        """Update the default parameters for a specific primitive."""
        if primitive not in self._default_parameters:
            return
        kwargs_.update(self._default_parameters[primitive])






class PrimitiveRobotControllerInterface(RobotControllerInterfaceBase):
    """The most primitive-level robot control interface. For example, typically, it provides interfaces for controlling the robot joints by

    - joint position control
    - end-effector impedance control
    - torque control
    """





class ContactPrimitiveRobotControlInterface(RobotControllerInterfaceBase):
    """The contact-aware primitive-level robot control interface. It abstracts over the primitive joint-level control interfaces and provides
    additional interfaces for controlling how the robot end-effector makes contact with a single object.

    - grasping
    - pushing
    - placing
    """