RSDK-1232 remove pb.JointPositions from Arm interface

[raybjork]

This ticket resolves some tech debt we've been putting off for a couple years. Presently, the armpb.JointPositions protobuf struct is being used in the Arm interface. The issue with this is that we have to deal with the conversion from this type to the Input type which is the type we use throughout the motion stack in multiple places rather than once at ingestion of the structure. In order to properly make this conversion we need to use information from the arm kinematics structure to determine how to process the raw floating point numbers.

Because the arm's Kinematics endpoint might not be implemented correctly, or at all extra guardrails were implemented in this PR:

• asking to move the arm to joint positions of a length that do not match the kinematics will now result in an error
• implementing the model frame as nil will now produce a warning when instantiating arm clients, indicating to users that the armpb.JointPositions struct will be treated as degrees and converted to radians while inside the context of the Arm interface

Overall, these changes should make things more type safe and incentivize users to properly use the kinematics endpoint of the arm when building modules. Finally, it paves the way for a simplification of the InputEnabled interface and addition of the upcoming MoveThroughJointPositions arm method

Note: This is a breaking change to the Arm package and after merging this, Viam supported arm modules written in Go will need to be updated to reflect this change.

[github-actions]

Warning your change may break code samples. If your change modifies any of the following functions please contact @viamrobotics/fleet-management. Thanks!

component	function
base	IsMoving
board	GPIOPinByName
camera	Properties
encoder	Properties
motor	IsMoving
sensor	Readings
servo	Position
arm	EndPosition
audio	MediaProperties
gantry	Lengths
gripper	IsMoving
input_controller	Controls
movement_sensor	LinearAcceleration
power_sensor	Power
pose_tracker	Poses
motion	GetPose
vision	GetProperties

[biotinker]

LGTM

[github-actions]

Availability

Scene #	viamrobotics:main	raybjork:RSDK-4120	Percent Improvement	Health
1	100%	100%	0%	➖
2	100%	100%	0%	➖
3	100%	100%	0%	➖
4	100%	100%	0%	➖
5	90%	90%	0%	➖
6	70%	60%	-14%	❌
7	30%	30%	0%	➖
8	100%	100%	0%	➖
9	100%	100%	0%	➖
10	100%	100%	0%	➖
11	100%	100%	0%	➖
12	100%	100%	0%	➖
13	100%	100%	0%	➖
14	100%	100%	0%	➖
15	100%	100%	0%	➖
16	100%	100%	0%	➖
17	100%	100%	0%	➖
18	40%	40%	0%	➖

Quality

Scene #	viamrobotics:main	raybjork:RSDK-4120	Percent Improvement	Probability of Improvement	Health
1	1.31±0.00	1.31±0.00	-0%	50%	➖
2	0.90±0.00	0.90±0.00	-0%	50%	➖
3	3.49±1.60	3.49±1.60	-0%	50%	➖
4	3.66±1.07	4.16±1.14	-14%	37%	➖
5	14.86±6.45	14.60±6.70	2%	51%	➖
6	14.37±5.53	15.57±4.43	-8%	43%	➖
7	5.51±1.57	4.59±1.94	17%	64%	➖
8	4.61±0.32	4.61±0.32	-0%	50%	➖
9	4.41±0.44	4.41±0.44	0%	50%	➖
10	4.43±0.46	4.40±0.45	1%	52%	➖
11	5.54±0.72	5.55±0.72	-0%	50%	➖
12	3.96±1.11	3.96±1.11	-0%	50%	➖
13	904.77±13.78	904.77±13.78	-0%	50%	➖
14	2129.60±711.35	2129.60±711.35	-0%	50%	➖
15	50549.88±4594.49	50549.88±4594.49	-0%	50%	➖
16	54723.04±11672.98	54723.04±11672.98	-0%	50%	➖
17	15859.97±5452.61	15859.97±5452.61	-0%	50%	➖
18	135263.45±33918.29	134306.11±34440.42	1%	51%	➖

Performance

Scene #	viamrobotics:main	raybjork:RSDK-4120	Percent Improvement	Probability of Improvement	Health
1	0.08±0.00	0.09±0.00	-1%	43%	➖
2	0.16±0.01	0.16±0.01	0%	51%	➖
3	0.54±0.26	0.55±0.26	-0%	50%	➖
4	1.96±0.12	1.99±0.11	-1%	43%	➖
5	2.93±0.88	2.86±0.93	2%	52%	➖
6	3.06±1.08	3.03±1.14	1%	51%	➖
7	2.06±0.17	2.05±0.16	1%	52%	➖
8	0.27±0.14	0.27±0.14	1%	50%	➖
9	4.98±0.23	4.97±0.23	0%	52%	➖
10	0.13±0.02	0.14±0.02	-4%	43%	➖
11	0.10±0.01	0.10±0.01	-3%	38%	➖
12	0.12±0.01	0.12±0.01	-1%	47%	➖
13	0.08±0.01	0.08±0.01	-1%	47%	➖
14	0.72±0.23	0.73±0.24	-1%	49%	➖
15	1.46±0.25	1.47±0.25	-0%	49%	➖
16	2.44±1.29	2.45±1.29	-0%	50%	➖
17	1.51±0.27	1.52±0.25	-1%	49%	➖
18	4.69±0.58	4.68±0.57	0%	50%	➖

The above data was generated by running scenes defined in the motion-testing repository
The SHA1 for viamrobotics:main is: 900738751a11aa6be03dd90a3932f38e1c35f187
The SHA1 for raybjork:RSDK-4120 is: 900738751a11aa6be03dd90a3932f38e1c35f187

• 10 samples were taken for each scene
• A timeout of 5.0 seconds was imposed for each trial