moveit_py: Add Policy Class

[peterdavidfagan]

Description

This pull request begins to add tooling to moveit_py that will enable the deployment of learnt policies using the moveit_servo package.

Initial example of API usage is being developed here.

Related feature request to help enable registering sensors and moveit_servo interface from config: here

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (73f4551) 50.40% compared to head (662b8ed) 50.81%.
Report is 1 commits behind head on main.

Additional details and impacted files

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+ Hits        16117    16336     +219     
+ Misses      15865    15818      -47     

see 7 files with indirect coverage changes

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[AndyZe]

Now this sounds interesting

[peterdavidfagan]

Here is an example of specifying random pose commands using the current abstract base class:

IMG_2467.MOV

Example Script

One item I am considering revising is how parameters are being read. Currently sensor topic subscriptions and their synchronisation settings are read from a parameters config specified by the generate_parameter_library. One thing that is evident is that these parameters do not need to be exposed as a node parameter as they are solely used for initial node configuration (and hence they are implicitly represented through the nodes subscribers and publishers). I regularly use hydra to manage ML experiment configs, I believe it may be easier to leverage such a library for managing policy deployment configs within the Python library.

[sea-bass]

This is great -- love the video and the application of the new Pose command for servo!

I have nothing of value to add to this PR review.

The only major thing, which I'm sure you already have planned, is to include your example usage in the moveit2_tutorials repo.

[peterdavidfagan]

Thanks @AndyZe and @sea-bass,

The only major thing, which I'm sure you already have planned, is to include your example usage in the moveit2_tutorials repo.

I will look to add tutorial examples for each of the command interfaces. I plan to iterate on the existing API for a week or so (currently using it for model deployment for one of my projects). Once the API has matured a bit I will be sure to provide tutorial examples, looking forward to potentially seeing more of the robot learning research community use this API.

[sjahr]

@peterdavidfagan Can we merge this?

[peterdavidfagan]

Hi @sjahr,

This can be merged.

Note: I am actively developing this API and examples of baseline models deployed with the API. I am happy to open another PR with changes and/or fixes in the future. As this will be another few weeks, more than happy for this to be merged in the meantime.

[sjahr]

Awesome, thank you @peterdavidfagan

[sea-bass]

This PR broke the docs build in the moveit2_tutorials repo BTW.

Extension error (sphinxcontrib.doxylink.doxylink):
Handler <function setup_doxylink_roles at 0x7fa6fe874d30> for event 'builder-inited' threw an exception (exception: Cannot add override to non-function 'moveit::policies::policy::Policy::activate_policy')