Smooth motion is a systems property, not one interpolation function.

The rgd-motion experimentation track explores trajectory quality, continuity and fluidity while keeping motion algorithms separable from the canonical OpenRGD standard.

STATUS BOUNDARY

Motion-quality experiments are not normative OpenRGD behavior. The design goal is to keep the motion layer clean and integrate it through explicit Synapse/runtime boundaries rather than embedding robot-specific planning into the standard.

QUALITY DIMENSIONS

Fluidity emerges from several constraints at once.

Continuity

Position, velocity and acceleration transitions should avoid unnecessary discontinuities.

Timing

Trajectory pacing must respect control-loop cadence, latency and downstream execution.

Constraints

Joint limits, reversibility, risk and body-specific operating envelopes bound movement.

Observation

Motion quality depends on feedback and measured outcomes, not only planned curves.

ARCHITECTURAL LESSON

Do not pollute a reusable motion layer with one integration.

Experimental integration work has been pushed toward Synapse/runtime adapters so the motion library can remain focused on motion semantics and algorithms. That separation mirrors the broader OpenRGD principle: capabilities upstream, device-specific execution downstream.

SOURCE MATERIAL

01Somatic Translation Contract↗02Canonical Runtime Boundary↗