Weirder wave preset: more waypoints, bigger/faster, less pause, live default

[jacklange22]

Summary

Tuning the sci-fi relay for a better "weird" thesis video, per operator feedback ("add weirder points… make the 2 x axes alternate to make a wave… add a bunch more… increase amplitude… 1000 tick limit… turn dry run off default… still has a bit of lag, make it faster/smoother").

• Wave + a bunch more waypoints. New 18-waypoint curated preset (was 9). The two X axes are near anti-phase (bottom_x ≈ -top_x, correlation ≈ −0.84) so the bottom and top segments counter-bend and the spine undulates like a wave/slither; the Y axes wander on incommensurate frequencies for an organic, never-quite-repeating feel. Consecutive separation stays ≥ 0.7 norm and both segments are non-trivial at every step.
• Less pause. early_switch_fraction 0.72 → 0.5: more transition overlap, so the spine rounds the corners and barely settles — removes the remaining little pause at each pose.
• Bigger + 1000-tick ceiling. amplitude 0.35 → 0.5 cm; hard tick ceiling 600 → 1000 so the bigger weird motions are never blocked. Soft/step caps are still auto-sized to the amplitude at setup() (0.5 cm → 783; verified max actual delta 454 < 783 < 1000, so a live run clears precheck).
• Faster. video_duration_s 20 → 14 s default; the Speed slider is re-ranged to 11–40 s (fast floor keeps ~0.6 s/waypoint at 18 waypoints).
• Smoother. Telemetry decimation 0.2 → 0.3 s so the periodic 8-servo read hitches the motion less often. command_rate_hz stays at the 50 Hz bus ceiling.
• Live by default. dry_run default OFF — the demo moves on run; the Run button shows "RUN LIVE", and dry-run can be re-checked to preview.

Test plan

• tests/test_sci_fi_waypoint_relay.py, tests/test_two_segment_slow_motion_demo.py, tests/test_two_segment_motion_patterns.py — 149 passed
• Preset quality verified: count 9 → min-sep 1.63, count 18 → 0.886 (≥0.7), nontrivial, in-bounds
• Live tick budget verified at 0.5 cm: max delta 454 ≤ auto soft-cap 783 ≤ hard 1000
• X anti-phase correlation −0.84 (counter-bend wave); preview shows "18 weird waypoints • 14 s • early-switch 0.50 • ~700 bus writes @ 50 Hz"
• Hardware: confirm it reads as a smooth weird wave with no pause; if 50 Hz can't be sustained the motion runs slow → lower command_rate_hz

Reviewer notes

• dry_run now defaults OFF by request — the demo is live on first run (preflight still gates on dual_segment + accepted startup + connected servos).
• Built in an isolated worktree off main; scoped to the demo, no concurrent WIP swept in.

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