Ivan/feat/planning-trajectory - #3352

Draft

leshy wants to merge 119 commits into

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ivan/feat/trajectory_ctrl

Commits on Aug 2, 2026

Commits on Aug 3, 2026

motion: measured go2 body envelope, per-track cruise judge
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1e4750b
motion: raise the controller pace weight to 5
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e772126
motion: pace weight is per-track like its cruise target
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motion: drop the htc blueprint, retune raycaster emit and MLS wall buffer
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motion: bound how stale the planner's local map may get
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motion: write down the on-robot deployment plan
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motion: two tracks, two laws, one pluggable seam
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motion: fold hint_research01 in as the hinted track's law
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motion: measure the raycaster on the robot, size option C
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go2: a zenoh motion blueprint per track, so both laws can be driven
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motion: draw the plan's body poses, and say which stage is stuck
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motion: port the stamp dialect's encoder to rust
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motion: wire the adapters to the viz and stall streams
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go2: draw plan bodies in the zenoh stacks, loosen the motion MLS again
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motion: port the room hint to rust
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motion: spec the native module recipe and the four briefs
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motion: the cmd_vel_mux native module
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motion: MovementManager keeps the clicks, loses the velocities
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motion: drop the tf lie, port ceilings_to_clearance
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motion: port odom leveling to rust, a second module in the mls crate
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motion: merge the odom_body_frame native module
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motion: motion_planner as a native module
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motion: trajectory_follower as a native module
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motion: merge the planner and follower native modules
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motion: merge the cmd_vel_mux native module
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motion: give the mux a python twin, and put it back in the stacks
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d528b63
motion: bake the motion half onto the robot, and fix what that broke
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85d5ca9

Commits on Aug 4, 2026

temporary TF
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Revert "temporary TF"
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Merge origin/main: the mount is tf's job, not a config quaternion
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64720ea
zenoh: scout on loopback by default, and put gossip back
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9a746fa
added native module peer/client/router switch
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zenoh: test the mode default factory
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5ad86d0
zenoh: multicast and gossip as knobs, python and rust together
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docs: how zenoh's session modes decide who reaches whom
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go2_tf: publish the go2's tf tree on the robot
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first irl recording
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motion: diagnose why the local plan changes its mind
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motion: say which ticks the diagnosis numbers cover
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motion: static worlds from real recordings
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motion: anchor the planner's obstacle band to the floor, off tf
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motion: pin the raycaster's emitted window instead of letting it breathe
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motion: replan when an input changed, not on the clock
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motion: put the follower's room hint on the planner's band
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flake fix
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1bdd898

Commits on Aug 5, 2026

motion: one shape per side -- runner, referee, research/{auto,ml}
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motion: diagnose rides the box on odometry, not on plan ticks
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motion: diagnose sweeps wireframe bodies along both plans
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motion: plan bodies wear their real yaw, smaller churn dots
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motion: name the three pose sources -- requested, recorded track, replay
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motion: denser plan bodies, replay goes gray
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motion: the executed track leaves green breadcrumb bodies
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motion: draw the precision the planner stamped into the plan
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motion: brighter wireframe bodies
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motion: mark the planner's own obstacle band, not a rendering guess
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motion: a hold clears its plan from the view -- nothing tracked, nothing drawn
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motion: diagnose sniffs which band the robot actually ran
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