Add ignore_theta to OrientationConstraint - #906
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Nicolas Palpacuer (NickPPC) merged 2 commits intoSep 24, 2026
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An orientation constraint currently pins rotation about the component's own pointing axis along with the axis direction. Payloads that are symmetric about that axis - a cup, glass or bucket - spill when tipped, not when spun, so that part of the tolerance constrains a rotation which cannot matter, and the planner is forced to hold a wrist angle for no reason. Add an optional ignore_theta flag that scores deviation between orientation vectors alone. It defaults to false, so existing constraints keep measuring the full orientation. The RDK-side implementation is in viamrobotics/rdk#6511, which cannot reach users over gRPC until this field exists. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
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Nicolas Palpacuer (NickPPC)
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viamrobotics/api#906 added ignore_theta to motionpb.OrientationConstraint and shipped it in v0.1.585, so the flag can now cross gRPC. Bump the dependency and map it in both directions, which makes the feature reachable from the motion service rather than only from in-process callers and the JSON plan-request path. Drop the two notes saying the round trip loses the flag; they are no longer true. The existing constructor test only ever round-trips the zero value, which would pass even if the conversion dropped the field, so add one covering both states plus a message from a peer that predates the field - an unset value must read as the theta-aware default. Verified it fails when either direction of the mapping is removed. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
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Summary
Add an optional
ignore_thetatoOrientationConstraint, scoring orientation deviation between orientation vectors alone. Payloads symmetric about their pointing axis — a cup, glass or bucket — spill when tipped, not when spun. Constraining that rotation makes the planner hold a wrist angle that cannot matter.Testing
buf lint,buf build, andbuf breaking --against origin/mainall clean.protois committed — generated interfaces come from CI per the README, so this needs theready-for-protoslabel before it can mergeClaude Code prompts used
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