src/fpgm/motion/__init__.py

"""Cartesian action-spec -> joint-trajectory planner (pipeline motion stage).

Turns a human/task-authored :class:`~fpgm.motion.types.ActionSpec` (a short
ordered list of Cartesian waypoints, gripper open/close commands, and dwells)
into a :class:`~fpgm.motion.types.JointTrajectory` -- a per-15-Hz-tick
``(joint_positions, gripper, timestamps)`` array triple that plugs directly
into :meth:`fpgm.objects.interaction.InteractionModel.solve` with zero glue
code (see the interface-contract note on
:class:`~fpgm.motion.types.JointTrajectory`).

See :mod:`fpgm.motion.profile` for the scalar trapezoidal-velocity-profile
math and :mod:`fpgm.motion.trajectory` for the planner that drives
:class:`~fpgm.robot.ik.IKSolver` along it.
"""

from __future__ import annotations