budget frame movement between waypoints

.changeset/lucky-donuts-tell.md

@@ -0,0 +1,5 @@
+---
+'@viamrobotics/motion-tools': patch
+---
+
+Add `interpolateTrajectory`, expanding a planned trajectory into preview playback frames budgeted per joint unit (degrees for revolute joints, millimetres for prismatic)

.prettierignore

@@ -24,5 +24,9 @@ static/test-fixtures
 # cannot round-trip them.
 src/lib/plugins/MotionPlanReplayer/__tests__/__fixtures__/
 
+# A 225-step capture, stored minified because it is 2,000 lines pretty-printed
+# and nothing reads it by eye. Its sibling fixtures are small and stay formatted.
+src/lib/motion/__tests__/__fixtures__/plan-linear-constrained.json
+
 # IDE
 .cursor

src/lib/motion/__tests__/__fixtures__/plan-free-space.json

@@ -0,0 +1,19 @@
+{
+	"plan": [
+		{
+			"arm": [0, 0, 0, 0, 0, 0],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		},
+		{
+			"arm": [
+				1.1050027617288314, -1.8778538694900169, -1.5693986191251539, -4.406731791553699,
+				4.712389313270464, -0.46579159318886737
+			],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		}
+	]
+}

src/lib/motion/__tests__/__fixtures__/plan-gantry.json

@@ -0,0 +1,16 @@
+{
+	"plan": [
+		{
+			"arm-1": [0, 0, 0, 0, 0, 0],
+			"arm-1_origin": [],
+			"gantry-1": [50],
+			"gantry-1_origin": []
+		},
+		{
+			"arm-1": [0, 0, 0, 0, 0, 0],
+			"arm-1_origin": [],
+			"gantry-1": [90.00000000000001],
+			"gantry-1_origin": []
+		}
+	]
+}

src/lib/motion/__tests__/__fixtures__/plan-synthetic-obstacle-routed.json

@@ -0,0 +1,187 @@
+{
+	"plan": [
+		{
+			"arm": [0, 0, 0, 0, 0, 0],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		},
+		{
+			"arm": [0, 0, 0, 0, 0, 0],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		},
+		{
+			"arm": [
+				-0.026296498218373508, -0.15470611393736317, 0.07280992487199799, 0.12735964055862564,
+				0.24431249119848666, -0.08898409746564592
+			],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		},
+		{
+			"arm": [
+				-0.026855998180466557, -0.15799773338283896, 0.07435907220970006, 0.13006942014497938,
+				0.24951062930909274, -0.09087737613512774
+			],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		},
+		{
+			"arm": [
+				-0.04028399727069984, -0.2369966000742585, 0.1115386083145501, 0.19510413021746909,
+				0.37426594396363916, -0.13631606420269163
+			],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		},
+		{
+			"arm": [
+				-0.047557496777909526, -0.279787652865444, 0.1316775237046772, 0.23033126484006763,
+				0.44184173940151833, -0.16092868690595535
+			],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		},
+		{
+			"arm": [
+				-0.12868499128140226, -0.7570724724594368, 0.35630388767147947, 0.6232493048613595,
+				1.1955717654394027, -0.4354540939808204
+			],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		},
+		{
+			"arm": [
+				-0.20571028488356596, -0.7822346502344796, 0.3987269923759556, 0.6309936839796001,
+				1.1951027447273148, -0.4255465941728487
+			],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		},
+		{
+			"arm": [
+				-0.8475877315682634, -0.991919465026503, 0.7522528649132567, 0.6955301766316049,
+				1.1911942387932488, -0.34298409577308436
+			],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		},
+		{
+			"arm": [
+				-2.216926284495618, -1.4392470699161528, 1.5064413929928322, 0.8332080276225484,
+				1.1828560928005747, -0.16685076585358719
+			],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		},
+		{
+			"arm": [
+				-2.3239058589430677, -1.4741945390481568, 1.565362371749049, 0.8439641097312159,
+				1.182204675144897, -0.15309034945362646
+			],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		},
+		{
+			"arm": [
+				-2.3453017738325572, -1.4811840328745576, 1.5771465675002925, 0.8461153261529494,
+				1.1820743916137615, -0.15033826617363433
+			],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		},
+		{
+			"arm": [
+				-2.3202934038379324, -1.411438640525238, 1.592742600247066, 0.8238222471704858,
+				1.218405987284108, -0.19107643316238532
+			],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		},
+		{
+			"arm": [
+				-2.317660943838498, -1.404097020277941, 1.594384287904621, 0.8214756072775949,
+				1.2222303657757234, -0.19536466126646437
+			],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		},
+		{
+			"arm": [
+				-2.236054683856038, -1.17650679261174, 1.645276605288829, 0.7487297705979771,
+				1.3407860990158014, -0.328299732492915
+			],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		},
+		{
+			"arm": [
+				-2.1873541738665048, -1.0406868180367492, 1.6756478269535984, 0.7053169325794953,
+				1.4115371011106868, -0.4076319524183775
+			],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		},
+		{
+			"arm": [
+				-2.1807730238679195, -1.0223327674185072, 1.6797520460974862, 0.6994503328472682,
+				1.4210980473397252, -0.4183525226785751
+			],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		},
+		{
+			"arm": [
+				-2.1794567938682023, -1.0186619572948588, 1.6805728899262637, 0.6982770129008227,
+				1.4230102365855328, -0.42049663673061466
+			],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		},
+		{
+			"arm": [
+				-2.1583971138727285, -0.9599289953164845, 1.6937063911867045, 0.6795038937576955,
+				1.4536052645184563, -0.45480246156324705
+			],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		},
+		{
+			"arm": [
+				-2.116277753881781, -0.8424630713597355, 1.719973393707586, 0.6419576554714411,
+				1.514795320384303, -0.5234141112285119
+			],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		},
+		{
+			"arm": [
+				-2.1559561769087057, -0.8733141758332765, 1.738883351746668, 0.7052277081276631,
+				1.5707951402863713, -0.5851599053467483
+			],
+			"arm_origin": [],
+			"table": [],
+			"table_origin": []
+		}
+	]
+}