use arm planning directly for pouring stuff

Author: erh

go.mod

@@ -5,23 +5,26 @@ go 1.23.8
 toolchain go1.23.9
 
 require (
-	github.com/erh/vmodutils v0.2.11
+	github.com/erh/vmodutils v0.3.0-rc0
 	github.com/golang/geo v0.0.0-20230421003525-6adc56603217
 	go.uber.org/multierr v1.11.0
-	go.viam.com/rdk v0.89.1
+	go.viam.com/rdk v0.93.1-0.20250917090714-404ea44c0192
 	go.viam.com/test v1.2.4
 	golang.org/x/sync v0.16.0
-	gonum.org/v1/gonum v0.12.0
+	gonum.org/v1/gonum v0.16.0
 )
 
 require (
 	cloud.google.com/go v0.115.1 // indirect
 	cloud.google.com/go/auth v0.9.3 // indirect
 	cloud.google.com/go/auth/oauth2adapt v0.2.4 // indirect
-	cloud.google.com/go/compute/metadata v0.6.0 // indirect
+	cloud.google.com/go/compute/metadata v0.7.0 // indirect
 	cloud.google.com/go/iam v1.2.0 // indirect
 	cloud.google.com/go/storage v1.43.0 // indirect
-	git.sr.ht/~sbinet/gg v0.3.1 // indirect
+	codeberg.org/go-fonts/liberation v0.5.0 // indirect
+	codeberg.org/go-latex/latex v0.1.0 // indirect
+	codeberg.org/go-pdf/fpdf v0.10.0 // indirect
+	git.sr.ht/~sbinet/gg v0.6.0 // indirect
 	github.com/Masterminds/semver/v3 v3.3.0 // indirect
 	github.com/a8m/envsubst v1.4.2 // indirect
 	github.com/ajstarks/svgo v0.0.0-20211024235047-1546f124cd8b // indirect
@@ -68,15 +71,12 @@ require (
 	github.com/fsnotify/fsnotify v1.9.0 // indirect
 	github.com/fullstorydev/grpcurl v1.8.6 // indirect
 	github.com/gen2brain/malgo v0.11.21 // indirect
-	github.com/go-fonts/liberation v0.3.0 // indirect
 	github.com/go-gl/mathgl v1.0.0 // indirect
-	github.com/go-jose/go-jose/v4 v4.0.5 // indirect
-	github.com/go-latex/latex v0.0.0-20230307184459-12ec69307ad9 // indirect
-	github.com/go-logr/logr v1.4.2 // indirect
+	github.com/go-jose/go-jose/v4 v4.1.1 // indirect
+	github.com/go-logr/logr v1.4.3 // indirect
 	github.com/go-logr/stdr v1.2.2 // indirect
 	github.com/go-nlopt/nlopt v0.0.0-20230219125344-443d3362dcb5 // indirect
 	github.com/go-ole/go-ole v1.2.6 // indirect
-	github.com/go-pdf/fpdf v0.6.0 // indirect
 	github.com/go-viper/mapstructure/v2 v2.3.0 // indirect
 	github.com/goccy/go-json v0.10.2 // indirect
 	github.com/gogo/protobuf v1.3.2 // indirect
@@ -94,7 +94,7 @@ require (
 	github.com/googleapis/gax-go/v2 v2.13.0 // indirect
 	github.com/gorilla/securecookie v1.1.2 // indirect
 	github.com/grpc-ecosystem/go-grpc-middleware v1.4.0 // indirect
-	github.com/grpc-ecosystem/grpc-gateway/v2 v2.20.0 // indirect
+	github.com/grpc-ecosystem/grpc-gateway/v2 v2.26.3 // indirect
 	github.com/improbable-eng/grpc-web v0.15.0 // indirect
 	github.com/jedib0t/go-pretty/v6 v6.4.6 // indirect
 	github.com/jhump/protoreflect v1.15.6 // indirect
@@ -185,34 +185,34 @@ require (
 	go.opentelemetry.io/auto/sdk v1.1.0 // indirect
 	go.opentelemetry.io/contrib/instrumentation/google.golang.org/grpc/otelgrpc v0.54.0 // indirect
 	go.opentelemetry.io/contrib/instrumentation/net/http/otelhttp v0.54.0 // indirect
-	go.opentelemetry.io/otel v1.35.0 // indirect
-	go.opentelemetry.io/otel/metric v1.35.0 // indirect
-	go.opentelemetry.io/otel/trace v1.35.0 // indirect
+	go.opentelemetry.io/otel v1.37.0 // indirect
+	go.opentelemetry.io/otel/metric v1.37.0 // indirect
+	go.opentelemetry.io/otel/trace v1.37.0 // indirect
 	go.uber.org/goleak v1.3.0 // indirect
 	go.uber.org/zap v1.27.0 // indirect
-	go.viam.com/api v0.1.467 // indirect
-	go.viam.com/utils v0.1.159 // indirect
+	go.viam.com/api v0.1.475 // indirect
+	go.viam.com/utils v0.1.167 // indirect
 	go4.org/unsafe/assume-no-moving-gc v0.0.0-20230525183740-e7c30c78aeb2 // indirect
 	golang.org/x/arch v0.0.0-20210923205945-b76863e36670 // indirect
-	golang.org/x/crypto v0.40.0 // indirect
-	golang.org/x/exp v0.0.0-20240904232852-e7e105dedf7e // indirect
-	golang.org/x/image v0.19.0 // indirect
-	golang.org/x/mod v0.25.0 // indirect
-	golang.org/x/net v0.42.0 // indirect
+	golang.org/x/crypto v0.41.0 // indirect
+	golang.org/x/exp v0.0.0-20241009180824-f66d83c29e7c // indirect
+	golang.org/x/image v0.25.0 // indirect
+	golang.org/x/mod v0.26.0 // indirect
+	golang.org/x/net v0.43.0 // indirect
 	golang.org/x/oauth2 v0.30.0 // indirect
-	golang.org/x/sys v0.34.0 // indirect
-	golang.org/x/term v0.33.0 // indirect
-	golang.org/x/text v0.27.0 // indirect
+	golang.org/x/sys v0.35.0 // indirect
+	golang.org/x/term v0.34.0 // indirect
+	golang.org/x/text v0.28.0 // indirect
 	golang.org/x/time v0.6.0 // indirect
-	golang.org/x/tools v0.34.0 // indirect
+	golang.org/x/tools v0.35.0 // indirect
 	golang.org/x/xerrors v0.0.0-20220907171357-04be3eba64a2 // indirect
-	gonum.org/v1/plot v0.12.0 // indirect
+	gonum.org/v1/plot v0.15.2 // indirect
 	google.golang.org/api v0.196.0 // indirect
 	google.golang.org/genproto v0.0.0-20240903143218-8af14fe29dc1 // indirect
-	google.golang.org/genproto/googleapis/api v0.0.0-20250324211829-b45e905df463 // indirect
-	google.golang.org/genproto/googleapis/rpc v0.0.0-20250715232539-7130f93afb79 // indirect
-	google.golang.org/grpc v1.73.0 // indirect
-	google.golang.org/protobuf v1.36.6 // indirect
+	google.golang.org/genproto/googleapis/api v0.0.0-20250707201910-8d1bb00bc6a7 // indirect
+	google.golang.org/genproto/googleapis/rpc v0.0.0-20250818200422-3122310a409c // indirect
+	google.golang.org/grpc v1.75.0 // indirect
+	google.golang.org/protobuf v1.36.8 // indirect
 	gopkg.in/natefinch/lumberjack.v2 v2.2.1 // indirect
 	gopkg.in/yaml.v3 v3.0.1 // indirect
 	gorgonia.org/tensor v0.9.24 // indirect