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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bacb44f
Add SYS_SELF_COLLISION catalog template + joint_commands guard wiring + collision integration tests
Jepson2k
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dd96c7b
Wire collision guards into cartesian_commands + config + Robot public methods
Jepson2k
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8479f8a
Add COLLISION_* config knobs + Robot public collision methods
Jepson2k
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5177634
Skip collision integration tests when CollisionChecker is unavailable
Jepson2k
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8ffa7b3
Build matching-branch pinokin from source in CI (no graceful degradation)
Jepson2k
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2644187
Apply ruff-format to PAROL6_ROBOT.py + joint_commands.py
Jepson2k
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4a4fc16
Apply ruff-format to cartesian_commands.py
Jepson2k
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3b0f5f9
Apply ruff-format to config.py + robot.py
Jepson2k
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0d8e6ac
Collision: simplified meshes, named pairs, tool auto-attach, SRDF audit

Jepson2k
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claude
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875824b
Cleaner SYS_SELF_COLLISION message phrasing

Jepson2k
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claude
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6d3a371

Commits on Jun 13, 2026

Collision: address deep-review findings

Jepson2k
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claude
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f4a636f

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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fe139e8

Commits on Jun 23, 2026

deps: cap numpy<2.5 for numba compatibility

Jepson2k
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claude
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e262df2
collision: fix Windows mesh path + ty unresolved-import on pinokin

Jepson2k
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claude
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27bc80a

Commits on Jun 24, 2026

Merge main into collision: bump waldoctl pin to v0.4.0, resolve tests.yml

Jepson2k
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claude
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dd95d0c
ci: drop shell:bash so Install runs in the conda env

Jepson2k
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claude
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b9a02c1