Simulate and Validate Industrial Robot Arm Paths with PyBullet and MoveIt2

                      
                     
"""
Production implementation for simulating and validating industrial robot arm paths using PyBullet and MoveIt2.
This module provides secure, scalable operations for robot path planning.
"""
from typing import Dict, Any, List, Tuple
import os
import logging
import time
import pybullet as p
from moveit_commander import RobotCommander, MoveGroupCommander

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

# Configuration class to manage environment variables
class Config:
    robot_model: str = os.getenv('ROBOT_MODEL', 'industrial_robot')
    simulation_timeout: int = int(os.getenv('SIMULATION_TIMEOUT', 30))

def validate_input_data(data: Dict[str, Any]) -> bool:
    """Validate request data for robot arm simulation.
    
    Args:
        data: Input dictionary containing path information
    Returns:
        bool: True if valid
    Raises:
        ValueError: If validation fails
    """
    if 'path' not in data:
        raise ValueError('Missing path in input data')
    if not isinstance(data['path'], list):
        raise ValueError('Path must be a list of joint values')
    return True

def sanitize_fields(data: Dict[str, Any]) -> Dict[str, Any]:
    """Sanitize input fields to prevent injection attacks.
    
    Args:
        data: Input data to sanitize
    Returns:
        Dict[str, Any]: Sanitized data
    """
    return {k: v for k, v in data.items() if isinstance(v, (int, float, list))}

def initialize_simulation() -> None:
    """Initialize PyBullet simulation environment.
    
    Returns:
        None
    """
    p.connect(p.GUI)
    p.setGravity(0, 0, -9.81)
    logger.info('Simulation environment initialized.')

def load_robot_model() -> None:
    """Load the robot model into the simulation.
    
    Returns:
        None
    """
    # Load robot model from URDF
    robot_id = p.loadURDF(Config.robot_model + '.urdf')
    logger.info(f'Robot model {Config.robot_model} loaded with id {robot_id}.')

def execute_path(path: List[float]) -> None:
    """Execute the given path for the robot arm.
    
    Args:
        path: List of joint angles to execute
    Returns:
        None
    Raises:
        RuntimeError: If path execution fails
    """
    for angle in path:
        p.setJointMotorControl2(robot_id, joint_index, p.POSITION_CONTROL, targetPosition=angle)
        time.sleep(1)
    logger.info('Path executed successfully.')

def validate_path(path: List[float]) -> bool:
    """Validate the robot path against constraints.
    
    Args:
        path: List of joint angles
    Returns:
        bool: True if valid
    Raises:
        ValueError: If validation fails
    """
    # Add validation logic here (e.g., checking limits)
    return True

def perform_simulation(data: Dict[str, Any]) -> None:
    """Perform the full simulation workflow.
    
    Args:
        data: Input data containing path information
    Returns:
        None
    """
    try:
        validate_input_data(data)  # Validate the input data
        sanitized_data = sanitize_fields(data)  # Sanitize the input data
        initialize_simulation()  # Initialize the simulation
        load_robot_model()  # Load the robot model
        path = sanitized_data['path']  # Extract the path from sanitized data
        if validate_path(path):  # Validate the path
            execute_path(path)  # Execute the validated path
    except Exception as e:
        logger.error(f'Error during simulation: {str(e)}')

if __name__ == '__main__':
    # Example usage
    input_data = {'path': [0.1, 0.2, 0.3]}  # Example input data
    perform_simulation(input_data)  # Run the simulation