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refactor(atomic-actions): add typed tracking contracts #501

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80 changes: 78 additions & 2 deletions embodichain/lab/sim/atomic_actions/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -80,7 +80,6 @@
ActionPlan,
CompiledTrajectory,
EffectVerificationRequirement,
ExecutionFeedbackMode,
PlannerDiagnostics,
TimedTrajectory,
TrajectorySegment,
Expand Down Expand Up @@ -108,6 +107,46 @@
TimedCommandSequence,
)
from .transports import EndpointCommandRouter, EndpointCommandTransport
from .tracking import (
BASE_POSE_CHANNEL,
JOINT_POSITION_CHANNEL,
WHOLE_BODY_POSE_CHANNEL,
EndpointTrackingChannelBinding,
EndpointTrackingFeedbackAddress,
FeedbackTerminalAcceptance,
InFlightTrackingPolicy,
JointPositionTrackingEvaluator,
JointPositionTrackingMetric,
JointPositionTrackingProjector,
JointPositionTrackingState,
PlanningContextTrackingFeedbackProvider,
PoseTrackingEvaluator,
PoseTrackingMetric,
PoseTrackingState,
TerminalAcceptance,
TimedTerminalAcceptance,
TimedTrackingSequence,
TrackingCommandProjector,
TrackingEvaluation,
TrackingEvaluatorRegistry,
TrackingFeedbackAddress,
TrackingFeedbackBatch,
TrackingFeedbackProvider,
TrackingFeedbackProviderRegistry,
TrackingFeedbackSourceRef,
TrackingFrame,
TrackingMetricCfg,
TrackingMetricEvaluator,
TrackingPolicy,
TrackingProjectorRef,
TrackingProjectorRegistry,
TrackingRuntime,
TrackingSetpoint,
TrackingState,
WholeBodyPoseTrackingEvaluator,
WholeBodyPoseTrackingMetric,
WholeBodyPoseTrackingState,
)
from .primitives import (
AssembleGoal,
BUILTIN_ACTION_TYPES,
Expand Down Expand Up @@ -225,7 +264,6 @@
"EffectVerificationResult",
"EffectVerifier",
"ExecutionClock",
"ExecutionFeedbackMode",
"ExecutionEvent",
"ExecutionEventKind",
"ExecutionPlanAttempt",
Expand All @@ -234,6 +272,9 @@
"ExecutionSession",
"ExecutionStatus",
"ExecutionTick",
"EndpointTrackingChannelBinding",
"EndpointTrackingFeedbackAddress",
"FeedbackTerminalAcceptance",
"GRASP_COMMAND",
"GRASP_CAPABILITY",
"GraspGoal",
Expand All @@ -243,12 +284,16 @@
"HeldObjectState",
"FORWARD_KINEMATICS_CAPABILITY",
"INVERSE_KINEMATICS_CAPABILITY",
"InFlightTrackingPolicy",
"InteractionPoints",
"JointPositionGoal",
"JointPositionCommand",
"JointPositionPayload",
"JointPositionTarget",
"JOINT_POSITION_CAPABILITY",
"JOINT_POSITION_CHANNEL",
"JointPositionTrackingMetric",
"JointPositionTrackingState",
"MotionPolicy",
"MonotonicExecutionClock",
"MoveEndEffector",
Expand All @@ -273,6 +318,8 @@
"PlannerDiagnostics",
"PlanningContext",
"PoseGoalValue",
"PoseTrackingMetric",
"PoseTrackingState",
"Press",
"PressGoal",
"PressOptions",
Expand Down Expand Up @@ -300,8 +347,37 @@
"SimulationExecutionAdapter",
"TaskState",
"TimedCommandSequence",
"TimedTerminalAcceptance",
"TimedTrackingSequence",
"TimedTrajectory",
"TerminalAcceptance",
"TrajectorySegment",
"TrackingCommandProjector",
"TrackingEvaluation",
"TrackingEvaluatorRegistry",
"TrackingFeedbackAddress",
"TrackingFeedbackBatch",
"TrackingFeedbackProvider",
"TrackingFeedbackProviderRegistry",
"TrackingFeedbackSourceRef",
"TrackingFrame",
"TrackingMetricCfg",
"TrackingMetricEvaluator",
"TrackingPolicy",
"TrackingProjectorRef",
"TrackingProjectorRegistry",
"TrackingRuntime",
"TrackingSetpoint",
"TrackingState",
"BASE_POSE_CHANNEL",
"JointPositionTrackingEvaluator",
"JointPositionTrackingProjector",
"PlanningContextTrackingFeedbackProvider",
"PoseTrackingEvaluator",
"WHOLE_BODY_POSE_CHANNEL",
"WholeBodyPoseTrackingEvaluator",
"WholeBodyPoseTrackingMetric",
"WholeBodyPoseTrackingState",
"get_registered_actions",
"register_action",
"unregister_action",
Expand Down
69 changes: 69 additions & 0 deletions embodichain/lab/sim/atomic_actions/bindings.py
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,10 @@
import torch

from .control import ControlCommand
from .tracking import (
EndpointTrackingChannelBinding,
EndpointTrackingFeedbackAddress,
)


def _validate_identifier(value: str, *, field_name: str) -> str:
Expand Down Expand Up @@ -79,6 +83,49 @@ def _snapshot_commands(
return MappingProxyType(commands)


def _snapshot_tracking_channels(
values: Mapping[str, EndpointTrackingChannelBinding],
*,
target: RuntimeEndpointTarget,
) -> Mapping[str, EndpointTrackingChannelBinding]:
"""Validate and own endpoint-local tracking-channel bindings."""
if not isinstance(values, Mapping):
raise TypeError("EndpointBinding.tracking_channels must be a mapping.")
channels: dict[str, EndpointTrackingChannelBinding] = {}
for channel_id, binding in values.items():
_validate_identifier(
channel_id,
field_name="EndpointBinding tracking channel IDs",
)
if not isinstance(binding, EndpointTrackingChannelBinding):
raise TypeError(
"EndpointBinding.tracking_channels values must be "
"EndpointTrackingChannelBinding instances."
)
if binding.channel_id != channel_id:
raise ValueError(
f"Tracking channel key {channel_id!r} disagrees with its binding "
f"channel {binding.channel_id!r}."
)
snapshot = binding.snapshot()
if snapshot is binding:
raise TypeError(
"EndpointTrackingChannelBinding.snapshot() must return an "
"independently owned value."
)
address = snapshot.source.address
if (
isinstance(address, EndpointTrackingFeedbackAddress)
and address.target.address_fingerprint != target.address_fingerprint
):
raise ValueError(
f"Tracking channel {channel_id!r} addresses a different runtime "
"endpoint target."
)
channels[channel_id] = snapshot
return MappingProxyType(channels)


def _validate_target_fingerprint(
target: RuntimeEndpointTarget,
*,
Expand Down Expand Up @@ -192,6 +239,9 @@ class EndpointBinding:
task_state_key: str | None = None
"""Symbolic task-state key; direct-core defaults to ``target.target_id``."""

tracking_channels: Mapping[str, EndpointTrackingChannelBinding] = field(
default_factory=dict
)
capabilities: frozenset[str] = frozenset()
commands: Mapping[str, ControlCommand] = field(default_factory=dict)
claim_tokens: frozenset[str] = frozenset()
Expand Down Expand Up @@ -246,6 +296,11 @@ def __post_init__(self) -> None:
field_name="EndpointBinding.task_state_key",
)
object.__setattr__(self, "task_state_key", task_state_key)
object.__setattr__(
self,
"tracking_channels",
_snapshot_tracking_channels(self.tracking_channels, target=target),
)
object.__setattr__(
self,
"capabilities",
Expand Down Expand Up @@ -317,6 +372,18 @@ def command(self, name: str) -> ControlCommand:
) from exc
return command.snapshot()

def tracking_channel(self, channel_id: str) -> EndpointTrackingChannelBinding:
"""Return one independently owned typed tracking-channel binding."""
try:
binding = self.tracking_channels[channel_id]
except KeyError as exc:
raise KeyError(
f"Endpoint {self.slot_id}.{self.endpoint_id} has no tracking "
f"channel {channel_id!r}; available channels are "
f"{sorted(self.tracking_channels)}."
) from exc
return binding.snapshot()

def joint_positions(
self,
name: str,
Expand Down Expand Up @@ -356,6 +423,7 @@ def with_commands(
adapter_id=self.adapter_id,
target=self.target,
task_state_key=self.task_state_key,
tracking_channels=self.tracking_channels,
capabilities=self.capabilities,
commands=merged,
claim_tokens=self.claim_tokens,
Expand All @@ -371,6 +439,7 @@ def snapshot(self) -> EndpointBinding:
adapter_id=self.adapter_id,
target=self.target,
task_state_key=self.task_state_key,
tracking_channels=self.tracking_channels,
capabilities=self.capabilities,
commands=self.commands,
claim_tokens=self.claim_tokens,
Expand Down
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