Plan Robot Arm Trajectories for Assembly Tasks with MoveIt2 and Gazebo

                      
                     
"""
Production implementation for planning robot arm trajectories for assembly tasks using MoveIt2 and Gazebo.
Provides secure, scalable operations.
"""
from typing import Dict, Any, List, Tuple
import os
import logging
import time
import random
import rclpy
from rclpy.node import Node
from trajectory_msgs.msg import JointTrajectory
from std_msgs.msg import Header

# Set up logging
logging.basicConfig(level=logging.INFO)
logger = logging.getLogger(__name__)

class Config:
    """Configuration class to load environment variables."""
    def __init__(self):
        self.gazebo_topic: str = os.getenv('GAZEBO_TOPIC', '/trajectory')
        self.max_retries: int = int(os.getenv('MAX_RETRIES', 5))

def validate_input(data: Dict[str, Any]) -> bool:
    """Validate input data for trajectory planning.
    
    Args:
        data: Input data containing joint angles.
    Returns:
        True if valid.
    Raises:
        ValueError: If validation fails.
    """
    if 'joint_angles' not in data:
        raise ValueError('Missing joint_angles in input data')
    if not isinstance(data['joint_angles'], list) or len(data['joint_angles']) == 0:
        raise ValueError('joint_angles must be a non-empty list')
    return True

def sanitize_fields(data: Dict[str, Any]) -> Dict[str, Any]:
    """Sanitize input fields.
    
    Args:
        data: Input data to sanitize.
    Returns:
        Sanitized input data.
    """
    return {k: v for k, v in data.items() if v is not None}

def normalize_data(data: Dict[str, Any]) -> Dict[str, Any]:
    """Normalize joint angles to ensure they are within limits.
    
    Args:
        data: Input data with joint angles.
    Returns:
        Normalized data with joint angles within limits.
    """
    data['joint_angles'] = [max(min(angle, 3.14), -3.14) for angle in data['joint_angles']]  # Limit to [-π, π]
    return data

def transform_records(data: Dict[str, Any]) -> JointTrajectory:
    """Transform input data into a JointTrajectory message.
    
    Args:
        data: Input data to transform.
    Returns:
        JointTrajectory message.
    """
    traj = JointTrajectory()
    traj.header = Header(stamp=rclpy.time.Time().to_msg(), frame_id='base_link')
    traj.joint_names = ['joint_1', 'joint_2', 'joint_3']  # Example joint names
    traj.points.append(
        JointTrajectoryPoint(
            positions=data['joint_angles'],
            time_from_start=rclpy.time.Duration(seconds=1.0)
        )
    )
    return traj

def publish_trajectory(node: Node, traj: JointTrajectory):
    """Publish trajectory to Gazebo.
    
    Args:
        node: ROS node to publish from.
        traj: JointTrajectory to publish.
    Returns:
        None
    """
    pub = node.create_publisher(JointTrajectory, node.get_parameter('gazebo_topic').get_parameter_value().string_value, 10)
    pub.publish(traj)
    logger.info('Trajectory published to Gazebo')

class RobotArmTrajectoryPlanner(Node):
    """Main class for planning robot arm trajectories."""
    def __init__(self):
        super().__init__('robot_arm_trajectory_planner')
        self.config = Config()  # Load configuration
    
    def plan_trajectory(self, input_data: Dict[str, Any]) -> None:
        """Main method to plan trajectory.
        
        Args:
            input_data: Input data for trajectory planning.
        Returns:
            None
        """
        try:
            validate_input(input_data)  # Validate input data
            sanitized_data = sanitize_fields(input_data)  # Sanitize input
            normalized_data = normalize_data(sanitized_data)  # Normalize angles
            trajectory = transform_records(normalized_data)  # Transform to trajectory
            publish_trajectory(self, trajectory)  # Publish trajectory
        except ValueError as e:
            logger.error(f'Input error: {e}')  # Log input errors
        except Exception as e:
            logger.error(f'Unexpected error: {e}')  # Log unexpected errors

if __name__ == '__main__':
    rclpy.init()  # Initialize ROS
    planner = RobotArmTrajectoryPlanner()  # Create planner instance
    example_data = {'joint_angles': [0.0, 1.57, -1.57]}  # Example input data
    planner.plan_trajectory(example_data)  # Plan trajectory
    rclpy.shutdown()  # Shutdown ROS