Add self-collision checking with pinokin CollisionChecker#17

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Jepson2k wants to merge 17 commits into

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claude/add-collision-checking-mHp47

Commits on May 14, 2026

Wire pinokin CollisionChecker into motion-command pre-flight checks
Jepson2k
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Add SYS_SELF_COLLISION catalog template + joint_commands guard wiring + collision integration tests
Jepson2k
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Wire collision guards into cartesian_commands + config + Robot public methods
Jepson2k
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Add COLLISION_* config knobs + Robot public collision methods
Jepson2k
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Skip collision integration tests when CollisionChecker is unavailable
Jepson2k
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Build matching-branch pinokin from source in CI (no graceful degradation)
Jepson2k
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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
Jepson2k
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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

Jepson2k
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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

Jepson2k
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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
committed

Commits on Jun 23, 2026

Commits on Jun 24, 2026