Train Factory Robot Manipulation Policies in Simulation with Isaac Sim and MoveIt 2

"""
Production implementation for training factory robot manipulation policies.
Utilizes Isaac Sim for simulation and MoveIt 2 for motion planning.
"""
from typing import Dict, Any, List
import os
import logging
import time
import random

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

class Config:
    """
    Configuration class for environment variables.
    """
    simulation_host: str = os.getenv('SIMULATION_HOST', 'localhost')
    moveit_service: str = os.getenv('MOVEIT_SERVICE', 'moveit_api')
    max_retries: int = int(os.getenv('MAX_RETRIES', 5))

def validate_input(data: Dict[str, Any]) -> bool:
    """
    Validate robot manipulation input data.
    
    Args:
        data: Input to validate
    Returns:
        True if valid
    Raises:
        ValueError: If validation fails
    """
    if 'goal_position' not in data or 'robot_id' not in data:
        raise ValueError('Input must contain goal_position and robot_id')
    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:
        Sanitized input data
    """
    return {k: str(v).strip() for k, v in data.items()}  # Basic sanitation

def fetch_simulation_data(robot_id: str) -> Dict[str, Any]:
    """
    Fetch robot state from the simulation.
    
    Args:
        robot_id: Identifier of the robot
    Returns:
        Dictionary containing robot state
    Raises:
        ConnectionError: If the simulation host is unreachable
    """
    try:
        # Simulate fetching data
        logger.info(f'Fetching data for robot: {robot_id}')
        state = {'position': [1.0, 0.0, 0.5], 'orientation': [0.0, 0.0, 0.0, 1.0]}
        return state
    except Exception as e:
        logger.error(f'Error fetching simulation data: {e}')
        raise ConnectionError('Could not reach simulation host')

def call_moveit_service(goal_position: List[float]) -> bool:
    """
    Call MoveIt service to execute the motion plan.
    
    Args:
        goal_position: Target position for the robot
    Returns:
        True if the move was successful
    Raises:
        RuntimeError: If the MoveIt service fails
    """
    logger.info(f'Calling MoveIt service for position: {goal_position}')
    # Simulated success/failure
    return random.choice([True, False])  # Randomly succeed or fail

def process_batch(data: List[Dict[str, Any]]) -> List[bool]:
    """
    Process a batch of robot manipulation requests.
    
    Args:
        data: List of input data for processing
    Returns:
        List of results for each request
    """
    results = []
    for item in data:
        try:
            valid = validate_input(item)  # Validate input
            if valid:
                sanitized = sanitize_fields(item)  # Sanitize inputs
                state = fetch_simulation_data(sanitized['robot_id'])  # Fetch state
                success = call_moveit_service(sanitized['goal_position'])  # Call MoveIt
                results.append(success)  # Append result
        except ValueError as ve:
            logger.error(f'Validation error: {ve}')
        except ConnectionError as ce:
            logger.error(f'Connection error: {ce}')
    return results

def save_to_db(results: List[bool]) -> None:
    """
    Save results to the database.
    
    Args:
        results: List of results to save
    """
    logger.info(f'Saving results: {results}')  # Simulate DB save
    # Here would be the actual database logic

def aggregate_metrics(results: List[bool]) -> Dict[str, Any]:
    """
    Aggregate metrics from results.
    
    Args:
        results: List of boolean results
    Returns:
        Dictionary containing aggregated metrics
    """
    success_count = results.count(True)
    failure_count = results.count(False)
    return {'success': success_count, 'failure': failure_count}

class RobotManipulation:
    """
    Main orchestrator class for robot manipulation tasks.
    """
    def __init__(self, config: Config) -> None:
        self.config = config  # Store configuration

    def execute(self, requests: List[Dict[str, Any]]) -> None:
        """
        Execute robot manipulation requests.
        
        Args:
            requests: List of requests to process
        """
        logger.info('Starting execution of manipulation requests')
        results = process_batch(requests)  # Process the requests
        aggregated = aggregate_metrics(results)  # Aggregate the results
        save_to_db(results)  # Save results to DB
        logger.info(f'Execution completed. Metrics: {aggregated}')  # Log metrics

if __name__ == '__main__':
    # Example usage of the RobotManipulation class
    config = Config()  # Load configuration
    manipulator = RobotManipulation(config)  # Create instance
    test_requests = [
        {'robot_id': 'robot_1', 'goal_position': [1.0, 0.0, 0.5]},
        {'robot_id': 'robot_2', 'goal_position': [0.5, 0.5, 0.5]}
    ]  # Define test requests
    manipulator.execute(test_requests)  # Execute requests