Add open_door: grip and swing the fridge door along its hinge arc

[Vijay Vuyyuru (vijayvuyyuru)]

Summary

Adds an open_door command that grips the passive fridge door by its handle and pulls it open along its hinge arc, keeping motion planning collision-honest by re-placing the static door obstacle in the frame system at each swept angle. This is the first "coordinated obstacle + gripper sweep" in the codebase — unlike the existing pivot/circular primitives, the obstacle world changes between waypoints.

Changes

• coffee/door.go (new): computeDoorSweep (θ waypoints), setDoorTheta (rotate the static door obstacle about its hinge via the lockFilterFrame remove/re-add so the handle chain and panel geometry ride along), and the openDoor orchestrator — grip → per-θ re-plan sweep → release → retract, gated by the running CAS and rebuilding the frame system on exit so the mutation can't leak.
• coffee/config.go: door_open_angle_degs (default 90), door_pivot_degrees_per_step (default 10), door_grasp_frame_name (default fridge-handle-ball), and door_approach_relative_pose (required) with getters.
• Approach/grasp/retract derived from the ball frame: reuses the cup-pickup RelativePose/composeCupPose pattern, resolved against the live grasp frame instead of a detected centroid — grasp aims grip-point at the ball center, approach/retract are the relative-pose standoff at the closed/open ball. No authored switch poses required.
• coffee/collisions.go: doorOpenCollisions(graspFrame) allows gripper↔grasp-frame contact during the pull.
• coffee/api.go: registers the open_door DoCommand.
• README.md: documents the command and the four config fields.

Testing

• coffee/door_test.go: unit tests for computeDoorSweep (count/endpoints/reverse), setDoorTheta (ball sweeps the arc, hinge fixed, panel geometry preserved), the rigid grasp offset riding rotation, the ball-relative approach derivation, and the config getters.
• coffee/api_test.go: open_door routes to the running-gate guard.
• go build ./..., go test ./coffee/..., go vet all green. make lint was not run (env has golangci-lint v1 vs the repo's v2 config) — needs a clean pass on a v2-linter machine.
• Remaining physical verification (needs the live machine): set door_approach_relative_pose and tune the standoff/orientation; confirm the open direction (sign of door_open_angle_degs); live-run {"open_door": true} and watch the arm + motion-viz door track together.

Known follow-ups (flagged as ponytail: deferrals)

• The relative-pose offset resolves in world axes; a door that starts ajar or swings far enough could expose the world-vs-ball-local difference. A ball-local offset would follow the swing.
• Longer term: model the fridge as a component with kinematics + a revolute joint, which would delete setDoorTheta entirely and make θ a plan input.

Claude Code Prompts Used

• "I want to design a new feature... I have an obstacle called fridge door... Setting the theta... creates a pivot about the hinges... We will need a pivot constraint for opening the door... allowed collision between the fridge ball and the arm gripper. Explore this code, tell me how you plan to do it."
• "Also, we could define the root frame of the door the pivot point right? Also we need to define a plane that we are rotating about..."
• "I think its a static obstacle at this time... update our fs in place for now but a later improvement would be have the fridge as a component w/ kinematics and a revolute joint."
• "Give me the config fields that need to be filled in for this."
• "Actually, the door grasp pose we should just make the center of the ball. So make that a config param (the name of the frame we aim for). We will still have approach/retreat"
• "Question, so what is approach? is it secretly a relative pose to the coffee ball frame?"
• "Can we make the approach from the ball? and w. similar thing to relative pose. but it resolves differently... fine if this is one offish for now"
• "Wait so I still need the exit? what config does that need"
• "Also, we need to open before the retreat is that implemented?"
• "Open a pr"

🤖 Generated with Claude Code