Approach-axis orientation planning via PoseCloud#28

Open

Nick Hehr (HipsterBrown) wants to merge 23 commits into

mainfrom

feature/pose-cloud-orientation

Commits on Jul 15, 2026

docs: design for approach-axis orientation planning via PoseCloud

Nick Hehr (HipsterBrown)
and
Claude (claude)
committed
docs: implementation plan for approach-axis orientation planning

Nick Hehr (HipsterBrown)
and
Claude (claude)
committed
chore: bump rdk to v1.0.0
Nick Hehr (HipsterBrown)
committed
feat(arm): add goalCloudConfig with defaulting and construction warnings
Nick Hehr (HipsterBrown)
committed
docs: amend Task 2 for code review findings
Nick Hehr (HipsterBrown)
committed
feat(arm): add coneToPoseCloud approach-axis cone mapping
Nick Hehr (HipsterBrown)
committed
docs: tie the saturation constant to the cone mapping in Task 3
Nick Hehr (HipsterBrown)
committed
docs: replace the false Theta claim with the isotropy argument
Nick Hehr (HipsterBrown)
committed
test(arm): pin rdk's Theta-is-azimuth and epsilon contracts

Nick Hehr (HipsterBrown)
and
Claude (claude)
committed
docs: drop the falsifiable "never matches" and azimuth-range claims
Nick Hehr (HipsterBrown)
committed
feat(arm): parse the raw pose_cloud escape hatch from extra
Nick Hehr (HipsterBrown)
committed
docs: pin all seven pose_cloud setters and purge the last never-matches claims
Nick Hehr (HipsterBrown)
committed
feat(arm): add buildMoveDestination precedence and error wrapping
Nick Hehr (HipsterBrown)
committed
docs: give goalPath an explicit pathInvalid zero value
Nick Hehr (HipsterBrown)
committed
docs: adapt Tasks 8-10 to main's manual/teach mode (PR #27)
Nick Hehr (HipsterBrown)
committed
test(arm): guard that the goal cloud survives gRPC serialization
Nick Hehr (HipsterBrown)
committed
feat(arm): add orientation_tolerance_deg and position_tolerance_mm config
Nick Hehr (HipsterBrown)
committed
docs: state the saturation threshold as a cosine, not a rounded degree
Nick Hehr (HipsterBrown)
committed
feat(arm): plan MoveToPosition with an approach-axis cone
Nick Hehr (HipsterBrown)
committed
feat(simulated): plan MoveToPosition with an approach-axis cone
Nick Hehr (HipsterBrown)
committed
docs: document orientation_tolerance_deg and position_tolerance_mm
Nick Hehr (HipsterBrown)
committed
docs: record PoseCloud semantics and the viam-server floor in CLAUDE.md
Nick Hehr (HipsterBrown)
committed
test(arm): pin wrapMoveErr's messages, the no-fallback design's whole UX
Nick Hehr (HipsterBrown)
committed