Collision checking: keep-out shapes, enablement gates, MoveIt-style invalidation#24

Merged

Jepson2k merged 38 commits into

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Jul 9, 2026

Commits on May 14, 2026

Wire pinokin CollisionChecker into motion-command pre-flight checks
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Add SYS_SELF_COLLISION catalog template + joint_commands guard wiring + collision integration tests
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Wire collision guards into cartesian_commands + config + Robot public methods
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Add COLLISION_* config knobs + Robot public collision methods
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Skip collision integration tests when CollisionChecker is unavailable
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Build matching-branch pinokin from source in CI (no graceful degradation)
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Apply ruff-format to PAROL6_ROBOT.py + joint_commands.py
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Apply ruff-format to cartesian_commands.py
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Apply ruff-format to config.py + robot.py
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Collision: simplified meshes, named pairs, tool auto-attach, SRDF audit

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claude
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Cleaner SYS_SELF_COLLISION message phrasing

Jepson2k
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claude
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Commits on Jun 13, 2026

Collision: address deep-review findings

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claude
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Commits on Jun 21, 2026

Collision: curved-move guard, escape-from-collision, fail-loud init, decel + attach fixes

Jepson2k
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claude
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Commits on Jun 23, 2026

Commits on Jun 24, 2026

Commits on Jun 29, 2026

Commits on Jun 30, 2026

Commits on Jul 2, 2026

Commits on Jul 5, 2026

Shapes: canonical Shape in-process, acked SET_SHAPES, readback, installation layer, margin, display vocabulary

Jepson2k
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claude
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Commits on Jul 7, 2026

Round-5: escape new-pairs parity, tool geom vocabulary, MoveIt-style invalidation

Jepson2k
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claude
committed

Commits on Jul 9, 2026