Dev-only command that sweeps the shoulder and elbow joints through a
coordinated trajectory, publishing a real
BB.Message.Actuator.Command.Trajectory per joint on [:actuator | joint]
and then the motion it describes as synthetic JointState messages on
[:sensor, :simulated] for ~2.4s at ~30Hz.
Its purpose is to demonstrate trajectories end-to-end: the event log
summarizes each command as shoulder ← trajectory 4 waypoints over 2400ms
and its detail pane collapses the waypoints to position@time, while the
joints panel and the 3D view show the arm moving through the waypoints
rather than snapping between targets.
The dev robot declares no actuators — like Dev.MoveHandler, the burst of
JointState messages stands in for a driver following the trajectory.
Waypoints carry no velocity or acceleration, which bb 0.29 made
optional: pace is the driver's business, and here that is the interpolation
below.
Goal shape: none.