Add self-collision checking with pinokin CollisionChecker - #5

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Jepson2k wants to merge 11 commits into

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claude/add-collision-checking-mHp47

Commits on May 12, 2026

Wire pinokin CollisionChecker into motion-command pre-flight checks
Jepson2k
committed
a7e782d
Add SYS_SELF_COLLISION catalog template + joint_commands guard wiring + collision integration tests
Jepson2k
committed
d605ced
Wire collision guards into cartesian_commands + config + Robot public methods
Jepson2k
committed
13a3724
Add COLLISION_* config knobs + Robot public collision methods
Jepson2k
committed
54f5e16
Skip collision integration tests when CollisionChecker is unavailable
Jepson2k
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90807f8
Build matching-branch pinokin from source in CI (no graceful degradation)
Jepson2k
committed
a376a6a
Apply ruff-format to PAROL6_ROBOT.py + joint_commands.py
Jepson2k
committed
e0bfb73
Apply ruff-format to cartesian_commands.py
Jepson2k
committed
71fe099
Apply ruff-format to config.py + robot.py
Jepson2k
committed
7d5a3ad

Commits on May 14, 2026

Collision: simplified meshes, named pairs, tool auto-attach, SRDF audit

Jepson2k
and
claude
committed
d8a7bb1
Cleaner SYS_SELF_COLLISION message phrasing

Jepson2k
and
claude
committed
a641804