RSDK-8542 expose plans generated from builtin motion service without executing them

motionplan/constraint.go

@@ -600,7 +600,7 @@ func NewConstraints(
 // ConstraintsFromProtobuf converts a protobuf object to a Constraints object.
 func ConstraintsFromProtobuf(pbConstraint *motionpb.Constraints) *Constraints {
 	if pbConstraint == nil {
-		return nil
+		return NewEmptyConstraints()
 	}
 
 	// iterate through all motionpb.LinearConstraint and convert to RDK form

referenceframe/primitives.go

@@ -59,6 +59,7 @@ func JointPositionsFromRadians(radians []float64) *pb.JointPositions {
 // InputEnabled is a standard interface for all things that interact with the frame system
 // This allows us to figure out where they currently are, and then move them.
 // Input units are always in meters or radians.
+// TODO: this really belongs in the motion service theres nothing stateful about the referenceframe package.
 type InputEnabled interface {
 	CurrentInputs(ctx context.Context) ([]Input, error)
 	GoToInputs(context.Context, ...[]Input) error

robot/impl/resource_manager_test.go

@@ -50,7 +50,6 @@ import (
 	"go.viam.com/rdk/grpc"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/module/modmaninterface"
-	"go.viam.com/rdk/motionplan"
 	"go.viam.com/rdk/operation"
 	"go.viam.com/rdk/pointcloud"
 	"go.viam.com/rdk/referenceframe"
@@ -463,16 +462,6 @@ func TestManagerAdd(t *testing.T) {
 	test.That(t, resource1, test.ShouldEqual, injectBoard)
 
 	injectMotionService := &inject.MotionService{}
-	injectMotionService.MoveFunc = func(
-		ctx context.Context,
-		componentName resource.Name,
-		grabPose *referenceframe.PoseInFrame,
-		worldState *referenceframe.WorldState,
-		constraints *motionplan.Constraints,
-		extra map[string]interface{},
-	) (bool, error) {
-		return false, nil
-	}
 	objectMResName := motion.Named("motion1")
 	manager.resources.AddNode(objectMResName, resource.NewConfiguredGraphNode(resource.Config{}, injectMotionService, unknownModel))
 	motionService, err := manager.ResourceByName(objectMResName)