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motion methods should use ShortName() #1560

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merged 3 commits into from
Nov 7, 2022
Merged

motion methods should use ShortName() #1560

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41c18ab
motion GetPose should use ShortName()
biotinker Nov 4, 2022
bd3ca85
Use ShortName() in motion service everywhere
biotinker Nov 4, 2022
d65f80d
Merge branch 'main' into 20221104_RSDK-849-motion-get-pose-incorrectl…
biotinker Nov 7, 2022
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14 changes: 7 additions & 7 deletions services/motion/builtin/builtin.go
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Original file line number Diff line number Diff line change
Expand Up @@ -85,7 +85,7 @@ func (ms *builtIn) Move(
output, err := solver.SolveWaypointsWithOptions(ctx,
fsInputs,
[]*referenceframe.PoseInFrame{goalPose},
componentName.Name,
componentName.ShortName(),
worldState,
[]map[string]interface{}{extra},
)
Expand Down Expand Up @@ -123,18 +123,18 @@ func (ms *builtIn) MoveSingleComponent(
operation.CancelOtherWithLabel(ctx, "motion-service")
logger := ms.r.Logger()

components := robot.AllResourcesByName(ms.r, componentName.Name)
components := robot.AllResourcesByName(ms.r, componentName.ShortName())
if len(components) != 1 {
return false, fmt.Errorf("got %d resources instead of 1 for (%s)", len(components), componentName.Name)
return false, fmt.Errorf("got %d resources instead of 1 for (%s)", len(components), componentName.ShortName())
}
movableArm, ok := components[0].(arm.Arm)
if !ok {
return false, fmt.Errorf("%v(%T) is not an Arm and cannot MoveToPosition with a Pose", componentName.Name, components[0])
return false, fmt.Errorf("%v(%T) is not an Arm and cannot MoveToPosition with a Pose", componentName.ShortName(), components[0])
}

// get destination pose in frame of movable component
goalPose := destination.Pose()
if destination.FrameName() != componentName.Name {
if destination.FrameName() != componentName.ShortName() {
logger.Debugf("goal given in frame of %q", destination.FrameName())

frameSys, err := framesystem.RobotFrameSystem(ctx, ms.r, worldState.GetTransforms())
Expand All @@ -149,7 +149,7 @@ func (ms *builtIn) MoveSingleComponent(
logger.Debugf("frame system inputs: %v", fsInputs)

// re-evaluate goalPose to be in the frame we're going to move in
tf, err := frameSys.Transform(fsInputs, destination, componentName.Name+"_origin")
tf, err := frameSys.Transform(fsInputs, destination, componentName.ShortName()+"_origin")
if err != nil {
return false, err
}
Expand Down Expand Up @@ -178,7 +178,7 @@ func (ms *builtIn) GetPose(
return ms.r.TransformPose(
ctx,
referenceframe.NewPoseInFrame(
componentName.Name,
componentName.ShortName(),
spatialmath.NewPoseFromPoint(r3.Vector{0, 0, 0}),
),
destinationFrame,
Expand Down