feat: add motion integration for IK solving and actuator commands #14
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Add BB.Motion module that bridges IK solving and actuator commands:
- `move_to/4` - solve IK, update state, send actuator commands
- `solve_only/4` - solve without sending commands (for validation)
- `send_positions/3` - send pre-computed positions to actuators
- Multi-target variants for coordinated motion (gait generators)
Add BB.Motion.Tracker behaviour for continuous position tracking.
Add BB.Command.MoveTo for built-in move command with single and
multi-target support.
Add BB.IK.Solver behaviour defining the pluggable IK solver interface.
Fix message schemas to allow nil for optional fields (command_id,
velocity, duration) using `{:or, [nil, type]}` instead of filtering.
Update IK tutorial with Motion API documentation.
…ormats
- Motion.move_to now publishes JointState messages on :sensor/:motion
- MoveTo command accepts Point3D messages and {:vec3, x, y, z} tuples
- DSL argument types now support flexible formats (maps, enums, modules)
- Add BB.Message.Geometry.Point3D for 3D coordinate messages
Spark doesn't support multi-line strings in option docs. Moved the detailed type documentation to the entity's docs field instead.
…dates The tutorial was showing State.set_positions which bypasses the actuator layer. Updated examples to either just show solving (for validation) or point to the Motion API for actually moving the robot.
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Summary
BB.Motionmodule that bridges IK solving and actuator commandsBB.Motion.Trackerbehaviour for continuous position trackingBB.Command.MoveTofor built-in move commandBB.IK.Solverbehaviour for pluggable IK solversChanges
BB.Motion
move_to/4- solve IK, update state, send actuator commandssolve_only/4- solve without sending commands (for validation)send_positions/3- send pre-computed positions to actuatorsmove_to_multi/3andsolve_only_multi/3for coordinated motion (gait generators)Task.async_streamwithEnum.reduce_whilefor parallel executionBB.Command.MoveTo
:target,:target_link,:solver):targetsmap,:solver)Message Schema Fixes
Hold,Stop,Positioncommands now accept nil for optional fields likecommand_id,velocity,durationTest plan
mix check --no-retry- all checks pass