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Architecture Documentation

Comprehensive documentation for the architecture, design patterns, and implementation details of the robot_workspace package.

System Architecture

The robot_workspace package separates concerns between:

  • Object Representation: Detected objects with physical properties.
  • Workspace Management: Robot workspace definitions and coordinate transformations.
  • Spatial Reasoning: Queries and relationships between objects.

Component Interaction

graph TD User[User Application] --> Package[Robot Workspace Package] subgraph Package Obj[Object Layer] <--> WS[Workspace Layer] end Package --> Robot[Robot Control Layer] Robot --> Hardware[Robot Hardware / Simulation]

Coordinate Systems

The package handles three distinct coordinate systems:

  1. Image Coordinates (Pixels): (u, v) in pixels. Origin at top-left.
  2. Relative Coordinates (Normalized): (u_rel, v_rel) in range [0, 1].
  3. World Coordinates (Meters): (x, y, z) in meters relative to robot base.

Transformation Pipeline

Image Coordinates (u, v)
         ↓
    [Normalization]
         ↓
Relative Coordinates (u_rel, v_rel)
         ↓
    [Workspace.transform_camera2world_coords()]
         ↓
World Coordinates (x, y, z, roll, pitch, yaw)

Design Patterns

  • Abstract Factory: For creating different workspace types (Niryo, WidowX).
  • Collection Pattern: Objects as an enhanced list for spatial queries.
  • Serialization Pattern: Consistent JSON serialization across all objects.