# ----------------------------------------------------------------------------
# Copyright (c) 2021-2026 DexForce Technology Co., Ltd.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ----------------------------------------------------------------------------
"""MoveEndEffector atomic action implementation."""
from __future__ import annotations
from dataclasses import dataclass
from typing import ClassVar
from embodichain.lab.sim.atomic_actions.bindings import JointPositionTarget
from embodichain.lab.sim.atomic_actions.core import AtomicAction
from embodichain.lab.sim.atomic_actions.goals import (
PoseGoalValue,
resolve_pose_goal,
validate_pose_goal,
)
from embodichain.lab.sim.atomic_actions.invocation import (
ActionOptions,
ResolvedActionRequest,
)
from embodichain.lab.sim.atomic_actions.plans import ActionPlan
from embodichain.lab.sim.atomic_actions.requirements import (
CARTESIAN_POSE_CAPABILITY,
SkillBindingContract,
)
from embodichain.lab.sim.atomic_actions.state import PlanningContext
from embodichain.lab.sim.atomic_actions.trajectory_ops import (
build_pose_plan_states,
resolve_pose_target,
to_full_robot_trajectory,
)
from embodichain.lab.sim.atomic_actions.primitives._binding_contracts import (
make_motion_slot,
)
[docs]
@dataclass(frozen=True, slots=True, eq=False)
class EndEffectorPoseGoal:
"""End-effector pose goal with optional batched intermediate waypoints."""
xpos: PoseGoalValue
"""Homogeneous pose with shape ``(4,4)``, ``(B,4,4)`` or ``(B,N,4,4)``."""
def __post_init__(self) -> None:
validate_pose_goal(self.xpos, "xpos", allow_waypoints=True)
[docs]
@dataclass(frozen=True, slots=True, eq=False)
class MoveEndEffectorOptions(ActionOptions):
"""Per-invocation behavior for :class:`MoveEndEffector`."""
[docs]
class MoveEndEffector(AtomicAction[EndEffectorPoseGoal, MoveEndEffectorOptions]):
"""Plan a free-space move for a bound manipulator."""
skill_id: ClassVar[str] = "move_end_effector"
GoalType: ClassVar[type] = EndEffectorPoseGoal
binding_contract: ClassVar[SkillBindingContract] = SkillBindingContract(
slots=(
make_motion_slot(
"primary",
capabilities=frozenset({CARTESIAN_POSE_CAPABILITY}),
),
),
)
OptionsType: ClassVar[type] = MoveEndEffectorOptions
def _plan(
self,
request: ResolvedActionRequest[EndEffectorPoseGoal, MoveEndEffectorOptions],
context: PlanningContext,
) -> ActionPlan:
"""Plan an end-effector pose goal from the observed joint state."""
goal = request.goal
motion_target = request.binding.endpoint("primary", "motion").require_target(
JointPositionTarget
)
control_part = motion_target.control_part
joint_ids = list(motion_target.joint_ids)
move_xpos = resolve_pose_target(
resolve_pose_goal(goal.xpos, context, name="xpos"),
num_envs=context.batch_size,
device=self.device,
)
start_qpos = context.robot.qpos[:, joint_ids]
result = self.motion_generator.generate(
build_pose_plan_states(move_xpos),
options=request.motion_policy.to_motion_gen_options(
start_qpos=start_qpos,
control_part=control_part,
interpolation_dt=context.control_dt,
),
)
success, trajectory = to_full_robot_trajectory(
result,
base_qpos=context.robot.qpos,
joint_ids=joint_ids,
env_ids=context.env_ids,
)
return self.build_plan(
request,
context,
success=success,
trajectory=trajectory,
)
__all__ = [
"EndEffectorPoseGoal",
"MoveEndEffector",
"MoveEndEffectorOptions",
]