[WORKFLOW] AI update based on proto changes from commit db42941

Author: viambot

src/viam/services/motion/client.py

@@ -31,6 +31,7 @@
     MoveRequest,
     MoveResponse,
     PlanStatusWithID,
+    PseudolinearConstraint,
     StopPlanRequest,
     StopPlanResponse,
 )

src/viam/services/motion/motion.py

@@ -8,7 +8,7 @@
     from typing_extensions import TypeAlias
 
 from viam.proto.common import GeoGeometry, Geometry, GeoPoint, Pose, PoseInFrame, ResourceName, Transform, WorldState
-from viam.proto.service.motion import Constraints, GetPlanResponse, MotionConfiguration, PlanStatusWithID
+from viam.proto.service.motion import Constraints, GetPlanResponse, MotionConfiguration, PlanStatusWithID, PseudolinearConstraint
 from viam.resource.types import API, RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_SERVICE
 from viam.utils import ValueTypes
 
@@ -75,7 +75,15 @@ async def move(
             world_state (viam.proto.common.WorldState): When supplied, the motion service will create a plan that obeys any constraints
                 expressed in the WorldState message.
             constraints (viam.proto.service.motion.Constraints): When supplied, the motion service will create a plan that obeys any
-                specified constraints.
+                specified constraints. These can include:
+                - LinearConstraint: Specifies that the component being moved should move linearly relative to its goal.
+                - OrientationConstraint: Specifies that the component being moved will not deviate its orientation beyond some threshold
+                  relative to the goal.
+                - CollisionSpecification: Used to selectively apply obstacle avoidance to specific parts of the robot.
+                - PseudolinearConstraint: Specifies that the component being moved should not deviate from the straight-line path to their
+                  goal by more than a factor proportional to the distance from start to goal. For example, if a component is moving 100mm,
+                  then a LineToleranceFactor of 1.0 means that the component will remain within a 100mm radius of the straight-line
+                  start-goal path.
 
         Returns:
             bool: Whether the move was successful.

src/viam/services/motion/service.py

@@ -14,6 +14,7 @@
     MoveOnMapResponse,
     MoveRequest,
     MoveResponse,
+    PseudolinearConstraint,
     StopPlanRequest,
     StopPlanResponse,
     UnimplementedMotionServiceBase,

tests/mocks/services.py

@@ -359,6 +359,7 @@
     MoveOnMapResponse,
     MoveRequest,
     MoveResponse,
+    PseudolinearConstraint,
     StopPlanRequest,
     StopPlanResponse,
 )

tests/test_motion_service.py

@@ -21,7 +21,7 @@
     PlanWithStatus,
 )
 from viam.proto.common import GeoGeometry, Geometry, GeoPoint, Pose, PoseInFrame, ResourceName, Transform, WorldState
-from viam.proto.service.motion import Constraints, LinearConstraint, MotionConfiguration
+from viam.proto.service.motion import Constraints, LinearConstraint, MotionConfiguration, PseudolinearConstraint
 from viam.resource.manager import ResourceManager
 from viam.services.motion import MotionClient
 from viam.services.motion.motion import Motion
@@ -125,7 +125,7 @@ async def test_move(self, motion: Motion, service: MotionRPCService):
                 resource_name = Arm.get_resource_name("arm")
                 destination = PoseInFrame(reference_frame="refframe")
                 world_state = WorldState(transforms=[Transform(reference_frame="ws_tfrm_rf")])
-                constraints = Constraints(linear_constraint=[LinearConstraint(), LinearConstraint(line_tolerance_mm=2)])
+                constraints = Constraints(linear_constraint=[LinearConstraint(), LinearConstraint(line_tolerance_mm=2)], pseudolinear_constraint=[PseudolinearConstraint(line_tolerance_factor=1.0, orientation_tolerance_factor=0.5)])
                 extra = {"foo": "bar"}
                 timeout = 2
                 success = await client.move(