[RSDK-2259, et. al.] Remove RobotConstructor, clean up constraint descriptions

components/arm/arm.go

@@ -22,7 +22,6 @@ import (
 	"go.viam.com/rdk/registry"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/robot"
-	"go.viam.com/rdk/robot/framesystem"
 	"go.viam.com/rdk/spatialmath"
 	"go.viam.com/rdk/subtype"
 	"go.viam.com/rdk/utils"
@@ -342,7 +341,7 @@ func WrapWithReconfigurable(r interface{}, name resource.Name) (resource.Reconfi
 }
 
 // Move is a helper function to abstract away movement for general arms.
-func Move(ctx context.Context, r robot.Robot, a Arm, dst spatialmath.Pose) error {
+func Move(ctx context.Context, logger golog.Logger, a Arm, dst spatialmath.Pose) error {
 	joints, err := a.JointPositions(ctx, nil)
 	if err != nil {
 		return err
@@ -356,7 +355,7 @@ func Move(ctx context.Context, r robot.Robot, a Arm, dst spatialmath.Pose) error
 		return err
 	}
 
-	solution, err := Plan(ctx, r, a, dst)
+	solution, err := Plan(ctx, logger, a, dst)
 	if err != nil {
 		return err
 	}
@@ -365,34 +364,13 @@ func Move(ctx context.Context, r robot.Robot, a Arm, dst spatialmath.Pose) error
 
 // Plan is a helper function to be called by arm implementations to abstract away the default procedure for using the
 // motion planning library with arms.
-func Plan(
-	ctx context.Context,
-	r robot.Robot,
-	a Arm,
-	dst spatialmath.Pose,
-) ([][]referenceframe.Input, error) {
-	// build the framesystem
-	fs, err := framesystem.RobotFrameSystem(ctx, r, nil)
-	if err != nil {
-		return nil, err
-	}
-	armName := a.ModelFrame().Name()
-	destination := referenceframe.NewPoseInFrame(armName+"_origin", dst)
-
-	// PlanRobotMotion needs a frame system which contains the frame being solved for
-	if fs.Frame(armName) == nil {
-		armFrame := a.ModelFrame()
-		jp, err := a.JointPositions(ctx, nil)
-		if err != nil {
-			return nil, err
-		}
-		return motionplan.PlanFrameMotion(ctx, r.Logger(), dst, armFrame, armFrame.InputFromProtobuf(jp), defaultArmPlannerOptions, nil)
-	}
-	solutionMap, err := motionplan.PlanRobotMotion(ctx, destination, a.ModelFrame(), r, fs, nil, defaultArmPlannerOptions, nil)
+func Plan(ctx context.Context, logger golog.Logger, a Arm, dst spatialmath.Pose) ([][]referenceframe.Input, error) {
+	armFrame := a.ModelFrame()
+	jp, err := a.JointPositions(ctx, nil)
 	if err != nil {
 		return nil, err
 	}
-	return motionplan.FrameStepsFromRobotPath(a.ModelFrame().Name(), solutionMap)
+	return motionplan.PlanFrameMotion(ctx, logger, dst, armFrame, armFrame.InputFromProtobuf(jp), defaultArmPlannerOptions, nil)
 }
 
 // GoToWaypoints will visit in turn each of the joint position waypoints generated by a motion planner.

components/arm/arm_test.go

@@ -23,7 +23,6 @@ import (
 	"go.viam.com/rdk/referenceframe"
 	"go.viam.com/rdk/registry"
 	"go.viam.com/rdk/resource"
-	framesystemparts "go.viam.com/rdk/robot/framesystem/parts"
 	"go.viam.com/rdk/spatialmath"
 	"go.viam.com/rdk/testutils/inject"
 	rutils "go.viam.com/rdk/utils"
@@ -389,19 +388,7 @@ func TestOOBArm(t *testing.T) {
 		},
 	}
 
-	injectedRobot := setupInjectRobot()
-	injectedRobot.FrameSystemConfigFunc = func(
-		ctx context.Context,
-		additionalTransforms []*referenceframe.LinkInFrame,
-	) (framesystemparts.Parts, error) {
-		return framesystemparts.Parts{}, nil
-	}
-
-	injectedRobot.LoggerFunc = func() golog.Logger {
-		return logger
-	}
-
-	notReal, err := fake.NewArm(injectedRobot, cfg, logger)
+	notReal, err := fake.NewArm(cfg, logger)
 	test.That(t, err, test.ShouldBeNil)
 
 	injectedArm := &inject.Arm{
@@ -434,7 +421,7 @@ func TestOOBArm(t *testing.T) {
 
 	t.Run("Move fails when OOB", func(t *testing.T) {
 		pose = spatialmath.NewPoseFromPoint(r3.Vector{200, 200, 200})
-		err := arm.Move(context.Background(), &inject.Robot{}, injectedArm, pose)
+		err := arm.Move(context.Background(), logger, injectedArm, pose)
 		u := "cartesian movements are not allowed when arm joints are out of bounds"
 		v := "joint 0 input out of bounds, input 12.56637 needs to be within range [6.28319 -6.28319]"
 		s := strings.Join([]string{u, v}, ": ")
@@ -541,9 +528,7 @@ func TestXArm6Locations(t *testing.T) {
 		},
 	}
 
-	injectedRobot := setupInjectRobot()
-
-	notReal, err := fake.NewArm(injectedRobot, cfg, logger)
+	notReal, err := fake.NewArm(cfg, logger)
 	test.That(t, err, test.ShouldBeNil)
 
 	t.Run("home location check", func(t *testing.T) {
@@ -666,9 +651,7 @@ func TestUR5ELocations(t *testing.T) {
 		},
 	}
 
-	injectedRobot := setupInjectRobot()
-
-	notReal, err := fake.NewArm(injectedRobot, cfg, logger)
+	notReal, err := fake.NewArm(cfg, logger)
 	test.That(t, err, test.ShouldBeNil)
 
 	t.Run("home location check", func(t *testing.T) {

components/arm/eva/eva.go

@@ -30,7 +30,6 @@ import (
 	"go.viam.com/rdk/referenceframe"
 	"go.viam.com/rdk/registry"
 	"go.viam.com/rdk/resource"
-	"go.viam.com/rdk/robot"
 	"go.viam.com/rdk/spatialmath"
 )
 
@@ -48,8 +47,8 @@ var evamodeljson []byte
 
 func init() {
 	registry.RegisterComponent(arm.Subtype, ModelName, registry.Component{
-		RobotConstructor: func(ctx context.Context, r robot.Robot, config config.Component, logger golog.Logger) (interface{}, error) {
-			return NewEva(ctx, r, config, logger)
+		Constructor: func(ctx context.Context, _ registry.Dependencies, config config.Component, logger golog.Logger) (interface{}, error) {
+			return NewEva(ctx, config, logger)
 		},
 	})
 
@@ -97,15 +96,14 @@ type eva struct {
 	moveLock *sync.Mutex
 	logger   golog.Logger
 	model    referenceframe.Model
-	robot    robot.Robot
 
 	frameJSON []byte
 
 	opMgr operation.SingleOperationManager
 }
 
 // NewEva TODO.
-func NewEva(ctx context.Context, r robot.Robot, cfg config.Component, logger golog.Logger) (arm.LocalArm, error) {
+func NewEva(ctx context.Context, cfg config.Component, logger golog.Logger) (arm.LocalArm, error) {
 	model, err := Model(cfg.Name)
 	if err != nil {
 		return nil, err
@@ -118,7 +116,6 @@ func NewEva(ctx context.Context, r robot.Robot, cfg config.Component, logger gol
 		logger:    logger,
 		moveLock:  &sync.Mutex{},
 		model:     model,
-		robot:     r,
 		frameJSON: evamodeljson,
 	}
 
@@ -153,7 +150,7 @@ func (e *eva) EndPosition(ctx context.Context, extra map[string]interface{}) (sp
 func (e *eva) MoveToPosition(ctx context.Context, pos spatialmath.Pose, extra map[string]interface{}) error {
 	ctx, done := e.opMgr.New(ctx)
 	defer done()
-	return arm.Move(ctx, e.robot, e, pos)
+	return arm.Move(ctx, e.logger, e, pos)
 }
 
 func (e *eva) MoveToJointPositions(ctx context.Context, newPositions *pb.JointPositions, extra map[string]interface{}) error {

components/arm/fake/fake.go

@@ -19,7 +19,6 @@ import (
 	"go.viam.com/rdk/referenceframe"
 	"go.viam.com/rdk/registry"
 	"go.viam.com/rdk/resource"
-	"go.viam.com/rdk/robot"
 	"go.viam.com/rdk/spatialmath"
 )
 
@@ -68,8 +67,8 @@ func (config *AttrConfig) Validate(path string) error {
 
 func init() {
 	registry.RegisterComponent(arm.Subtype, ModelName, registry.Component{
-		RobotConstructor: func(ctx context.Context, r robot.Robot, config config.Component, logger golog.Logger) (interface{}, error) {
-			return NewArm(r, config, logger)
+		Constructor: func(ctx context.Context, _ registry.Dependencies, config config.Component, logger golog.Logger) (interface{}, error) {
+			return NewArm(config, logger)
 		},
 	})
 
@@ -85,7 +84,7 @@ func init() {
 }
 
 // NewArm returns a new fake arm.
-func NewArm(r robot.Robot, cfg config.Component, logger golog.Logger) (arm.LocalArm, error) {
+func NewArm(cfg config.Component, logger golog.Logger) (arm.LocalArm, error) {
 	model, err := buildModel(cfg)
 	if err != nil {
 		return nil, err
@@ -96,7 +95,6 @@ func NewArm(r robot.Robot, cfg config.Component, logger golog.Logger) (arm.Local
 		joints: &pb.JointPositions{Values: make([]float64, len(model.DoF()))},
 		model:  model,
 		logger: logger,
-		robot:  r,
 	}, nil
 }
 
@@ -131,7 +129,6 @@ type Arm struct {
 	CloseCount int
 	logger     golog.Logger
 	model      referenceframe.Model
-	robot      robot.Robot
 }
 
 // UpdateAction helps hinting the reconfiguration process on what strategy to use given a modified config.
@@ -170,7 +167,7 @@ func (a *Arm) EndPosition(ctx context.Context, extra map[string]interface{}) (sp
 
 // MoveToPosition sets the position.
 func (a *Arm) MoveToPosition(ctx context.Context, pos spatialmath.Pose, extra map[string]interface{}) error {
-	return arm.Move(ctx, a.robot, a, pos)
+	return arm.Move(ctx, a.logger, a, pos)
 }
 
 // MoveToJointPositions sets the joints.

components/arm/universalrobots/ur.go

@@ -31,7 +31,6 @@ import (
 	"go.viam.com/rdk/referenceframe"
 	"go.viam.com/rdk/registry"
 	"go.viam.com/rdk/resource"
-	"go.viam.com/rdk/robot"
 	"go.viam.com/rdk/spatialmath"
 	"go.viam.com/rdk/utils"
 )
@@ -62,8 +61,8 @@ var ur5modeljson []byte
 
 func init() {
 	registry.RegisterComponent(arm.Subtype, ModelName, registry.Component{
-		RobotConstructor: func(ctx context.Context, r robot.Robot, config config.Component, logger golog.Logger) (interface{}, error) {
-			return URArmConnect(ctx, r, config, logger)
+		Constructor: func(ctx context.Context, _ registry.Dependencies, config config.Component, logger golog.Logger) (interface{}, error) {
+			return URArmConnect(ctx, config, logger)
 		},
 	})
 
@@ -97,7 +96,6 @@ type URArm struct {
 	activeBackgroundWorkers  *sync.WaitGroup
 	model                    referenceframe.Model
 	opMgr                    operation.SingleOperationManager
-	robot                    robot.Robot
 	urHostedKinematics       bool
 	inRemoteMode             bool
 	dashboardConnection      net.Conn
@@ -157,7 +155,7 @@ func (ua *URArm) Close(ctx context.Context) error {
 }
 
 // URArmConnect TODO.
-func URArmConnect(ctx context.Context, r robot.Robot, cfg config.Component, logger golog.Logger) (arm.LocalArm, error) {
+func URArmConnect(ctx context.Context, cfg config.Component, logger golog.Logger) (arm.LocalArm, error) {
 	// this is to speed up component build failure if the UR arm is not reachable
 	ctx, cancel := context.WithDeadline(ctx, time.Now().Add(5*time.Second))
 	defer cancel()
@@ -196,7 +194,6 @@ func URArmConnect(ctx context.Context, r robot.Robot, cfg config.Component, logg
 		logger:                   logger,
 		cancel:                   cancel,
 		model:                    model,
-		robot:                    r,
 		urHostedKinematics:       attrs.ArmHostedKinematics,
 		inRemoteMode:             false,
 		readRobotStateConnection: connReadRobotState,
@@ -360,7 +357,7 @@ func (ua *URArm) MoveToPosition(ctx context.Context, pos spatialmath.Pose, extra
 	if usingHostedKinematics {
 		return ua.moveWithURHostedKinematics(ctx, pos)
 	}
-	return arm.Move(ctx, ua.robot, ua, pos)
+	return arm.Move(ctx, ua.logger, ua, pos)
 }
 
 // MoveToJointPositions TODO.

components/arm/universalrobots/ur5e_test.go

@@ -26,7 +26,6 @@ import (
 	"go.viam.com/rdk/referenceframe"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/spatialmath"
-	"go.viam.com/rdk/testutils/inject"
 	"go.viam.com/rdk/utils"
 )
 
@@ -344,8 +343,7 @@ func TestArmReconnection(t *testing.T) {
 		},
 	}
 
-	injectRobot := &inject.Robot{}
-	arm, err := URArmConnect(parentCtx, injectRobot, cfg, logger)
+	arm, err := URArmConnect(parentCtx, cfg, logger)
 
 	test.That(t, err, test.ShouldBeNil)
 	ua, ok := arm.(*URArm)

components/arm/wrapper/wrapper.go

@@ -6,7 +6,7 @@ import (
 
 	"github.com/edaniels/golog"
 	pb "go.viam.com/api/component/arm/v1"
-	"go.viam.com/utils"
+	goutils "go.viam.com/utils"
 
 	"go.viam.com/rdk/components/arm"
 	"go.viam.com/rdk/components/generic"
@@ -16,8 +16,8 @@ import (
 	"go.viam.com/rdk/referenceframe"
 	"go.viam.com/rdk/registry"
 	"go.viam.com/rdk/resource"
-	"go.viam.com/rdk/robot"
 	"go.viam.com/rdk/spatialmath"
+	"go.viam.com/rdk/utils"
 )
 
 // AttrConfig is used for converting config attributes.
@@ -32,7 +32,7 @@ var model = resource.NewDefaultModel("wrapper_arm")
 func (cfg *AttrConfig) Validate(path string) ([]string, error) {
 	var deps []string
 	if cfg.ArmName == "" {
-		return nil, utils.NewConfigValidationFieldRequiredError(path, "arm-name")
+		return nil, goutils.NewConfigValidationFieldRequiredError(path, "arm-name")
 	}
 	if _, err := referenceframe.ModelFromPath(cfg.ModelFilePath, ""); err != nil {
 		return nil, err
@@ -43,8 +43,8 @@ func (cfg *AttrConfig) Validate(path string) ([]string, error) {
 
 func init() {
 	registry.RegisterComponent(arm.Subtype, model, registry.Component{
-		RobotConstructor: func(ctx context.Context, r robot.Robot, config config.Component, logger golog.Logger) (interface{}, error) {
-			return NewWrapperArm(config, r, logger)
+		Constructor: func(ctx context.Context, deps registry.Dependencies, config config.Component, logger golog.Logger) (interface{}, error) {
+			return NewWrapperArm(config, deps, logger)
 		},
 	})
 
@@ -64,18 +64,23 @@ type Arm struct {
 	model  referenceframe.Model
 	actual arm.Arm
 	logger golog.Logger
-	robot  robot.Robot
 	opMgr  operation.SingleOperationManager
 }
 
 // NewWrapperArm returns a wrapper component for another arm.
-func NewWrapperArm(cfg config.Component, r robot.Robot, logger golog.Logger) (arm.LocalArm, error) {
-	modelPath := cfg.ConvertedAttributes.(*AttrConfig).ModelFilePath
+func NewWrapperArm(cfg config.Component, deps registry.Dependencies, logger golog.Logger) (arm.LocalArm, error) {
+	attrs, ok := cfg.ConvertedAttributes.(*AttrConfig)
+	if !ok {
+		return nil, utils.NewUnexpectedTypeError(attrs, cfg.ConvertedAttributes)
+	}
+
+	modelPath := attrs.ModelFilePath
 	model, err := referenceframe.ModelFromPath(modelPath, cfg.Name)
 	if err != nil {
 		return nil, err
 	}
-	wrappedArm, err := arm.FromRobot(r, cfg.ConvertedAttributes.(*AttrConfig).ArmName)
+
+	wrappedArm, err := arm.FromDependencies(deps, attrs.ArmName)
 	if err != nil {
 		return nil, err
 	}
@@ -84,7 +89,6 @@ func NewWrapperArm(cfg config.Component, r robot.Robot, logger golog.Logger) (ar
 		model:  model,
 		actual: wrappedArm,
 		logger: logger,
-		robot:  r,
 	}, nil
 }
 
@@ -130,7 +134,7 @@ func (wrapper *Arm) EndPosition(ctx context.Context, extra map[string]interface{
 func (wrapper *Arm) MoveToPosition(ctx context.Context, pos spatialmath.Pose, extra map[string]interface{}) error {
 	ctx, done := wrapper.opMgr.New(ctx)
 	defer done()
-	return arm.Move(ctx, wrapper.robot, wrapper, pos)
+	return arm.Move(ctx, wrapper.logger, wrapper, pos)
 }
 
 // MoveToJointPositions sets the joints.

components/arm/wrapper/wrapper_test.go

@@ -67,7 +67,6 @@ func TestUpdateAction(t *testing.T) {
 		model:  model,
 		actual: &inject.Arm{},
 		logger: logger,
-		robot:  &inject.Robot{},
 	}
 
 	// scenario where we do not reconfigure