Fix pose cloud example to use a linear constraint#5149
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btshrewsbury-viam wants to merge 2 commits into
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Fix pose cloud example to use a linear constraint#5149btshrewsbury-viam wants to merge 2 commits into
btshrewsbury-viam wants to merge 2 commits into
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The code example on the pose-clouds page kept the cup upright with an OrientationConstraint, which only bounds the pointing direction at the goal. The canonical pouring demo (viam-pouring-demo, PR #54) uses a LinearConstraint with both LineToleranceMm and OrientationToleranceDegs, moving the cup along a straight, level path so it does not spill. This matches dgottlieb's review note on #5098 that the orientation-only approach may not reliably prevent spills. Switch the example and its surrounding prose to the linear constraint. The place-a-cup-on-the-table scenario, pose cloud, and figures are unchanged. Co-Authored-By: Claude Opus 4.8 (1M context) <[email protected]>
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The figure shows the gripper holding the cup from the side, with the tool pointing horizontally, but the code used OZ:-1 (a top-down grasp). Set the goal orientation to OX:1 so the code matches the figure. With a horizontal grasp, Theta:180 would roll the cup about a horizontal axis and tip it. Relax OX and OY instead, so the planner can approach from any side (the cup may rest at any rotation about vertical), with a small OZ leeway to keep the approach horizontal and the cup upright. This matches the pouring demo and exercises the OX/OY/OZ rows of the tolerance table. Co-Authored-By: Claude Opus 4.8 (1M context) <[email protected]>
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Hey btshrewsbury-viam — CI is green and no reviewer is assigned yet. Could you request one when you have a chance? Auto-comment from overwatch. Will not re-nudge for 7 days. |
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Closing in favor of #5197, which carries both commits from this PR (with cleaned commit messages so the CLA check passes) plus the motion-planning happy-path correction. |
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What
Two fixes to the code example on Relax a goal with a pose cloud, so it matches both the figure and the canonical pouring demo:
OrientationConstraint→LinearConstraint{LineToleranceMm: 5, OrientationToleranceDegs: 5}(a straight, level path, not just level at the goal).OZ: -1(a top-down grasp), but the figure shows the gripper holding the cup from the side. Set it toOX: 1(tool points horizontally) to match the figure.Why
On the PR that added the page (#5098), Dan Gottlieb (@dgottlieb) was skeptical the orientation-only approach reliably keeps the cup from spilling and pointed at the viam-pouring-demo (
pour/motion.go,pour/vinocart.go) as the shape a user should write. That demo uses aLinearConstraintand grasps the cup from the side withOX/OYleeway.The two changes interact: with a side grasp (
OX: 1, tool horizontal), the oldTheta: 180would roll the cup about a horizontal axis and tip it. So the pose cloud now relaxesOX/OYinstead (approach from any side ≈ any rotation about vertical) with a smallOZto keep the approach horizontal and the cup upright — the demo's pattern. This also makes the example exercise theOX/OY/OZrows of the page's tolerance table and lines up with the page's existing orientation-normalization callout (set a non-zeroOXon the goal so the leeway is measured from the intended grasp). The RDKPoseClouddoc comment confirms the physics: a large orientation leeway with a large theta lets "the cup start to tip and spill."Changes
All in
docs/motion-planning/move-an-arm/pose-clouds.md:{OZ: -1}→{OX: 1, OZ: 0, Theta: 180}; pose cloud{X, Y, Z, Theta: 180}→{X: 75, Y: 75, Z: 0, OX: 1, OY: 1, OZ: 0.1}; constraint →LinearConstraint.Verification
rdk/motionplan/constraint.go:42-45andrdk/referenceframe/pose_cloud.go:17-72.viam-pouring-demo#54.vale(0/0/0), andmake build-prodall pass.🤖 Generated with Claude Code