Weirder wave preset: strict anti-phase X + writhing Y

continuum_robot/demo/sci_fi_waypoint_relay.py

@@ -76,34 +76,37 @@
 # Preset of 18 normalized 4D waypoints. Each entry is
 # ``[bottom_x, bottom_y, top_x, top_y]`` in tip-target convention.
 # Designed (not random) so that:
-#   - the two X axes are near anti-phase (bottom_x ≈ -top_x): the bottom and
-#     top segments counter-bend, so streaming through them makes the spine
-#     undulate like a wave / slither instead of leaning one way;
-#   - the Y axes wander on incommensurate frequencies for an organic, weird
-#     feel that never quite repeats;
+#   - the two X axes are STRICTLY anti-phase (top_x = -bottom_x): segment 1
+#     bends +X exactly when segment 2 bends -X, and they alternate sign step
+#     to step. Streaming through them makes the spine counter-bend and
+#     undulate like a wave / slither -- the clearest "two-segment" read on
+#     camera. (X sign alternates on ~88% of consecutive steps.)
+#   - the Y axes writhe on a SUM of two incommensurate sinusoids each, so the
+#     out-of-plane motion is aperiodic and weird, never quite repeating;
 #   - consecutive waypoints stay >= 0.7 norm apart in 4D (visual variety);
 #   - both bottom and top components are non-trivial at every step.
-# Generated via sin/cos with step 2.4, X anti-phase offset 2.6 rad; see the
-# repo history for the generator. Scaled by amplitude_cm at runtime.
+# Generated with bottom_x=sin(t), top_x=sin(t+pi)=-bottom_x (step 2.8) and
+# Y = 0.62*sin(f1) + 0.38*sin(f2) on incommensurate f1,f2; see repo history.
+# Scaled by amplitude_cm at runtime.
 PRESET_WEIRD_WAYPOINTS_NORM: tuple[tuple[float, float, float, float], ...] = (
-    ( 0.00,  0.56,  0.52,  0.96),
-    ( 0.68, -1.00, -0.96,  0.89),
-    (-1.00,  0.62,  0.90,  0.34),
-    ( 0.79,  0.27, -0.37, -0.41),
-    (-0.17, -0.94, -0.36, -0.93),
-    (-0.54,  0.84,  0.89, -0.93),
-    ( 0.97, -0.05, -0.96, -0.42),
-    (-0.89, -0.77,  0.52,  0.32),
-    ( 0.34,  0.97,  0.19,  0.89),
-    ( 0.38, -0.37, -0.80,  0.96),
-    (-0.91, -0.53,  0.99,  0.50),
-    ( 0.95,  1.00, -0.66, -0.24),
-    (-0.50, -0.65, -0.02, -0.84),
-    (-0.21, -0.23,  0.69, -0.98),
-    ( 0.82,  0.92, -1.00, -0.57),
-    (-0.99, -0.86,  0.78,  0.15),
-    ( 0.64,  0.09, -0.16,  0.79),
-    ( 0.04,  0.75, -0.55,  0.99),
+    ( 0.00,  0.66,  0.00,  0.46),
+    ( 0.33, -0.60, -0.33,  0.20),
+    (-0.63, -0.39,  0.63,  0.95),
+    ( 0.85,  0.80, -0.85,  0.54),
+    (-0.98,  0.01,  0.98,  0.20),
+    ( 0.99, -0.82, -0.99,  0.65),
+    (-0.89,  0.39,  0.89, -0.14),
+    ( 0.68,  0.65, -0.68, -0.38),
+    (-0.40, -0.71,  0.40, -0.05),
+    ( 0.07, -0.31, -0.07, -0.84),
+    ( 0.27,  0.88, -0.27, -0.67),
+    (-0.58, -0.11,  0.58, -0.24),
+    ( 0.82, -0.84, -0.82, -0.78),
+    (-0.96,  0.52,  0.96, -0.15),
+    ( 1.00,  0.60, -1.00,  0.27),
+    (-0.92, -0.82,  0.92, -0.12),
+    ( 0.73, -0.21, -0.73,  0.66),
+    (-0.46,  0.93,  0.46,  0.73),
 )