feat(control): unify joint limits and bound trajectory dynamics

Use shared limits for all seven axes across MoveIt, URDF and FRI.
Apply Ruckig smoothing and continuous JTC spline checks, stretching
trajectory timing to respect velocity, acceleration and jerk limits.
Require fresh stationary feedback for direct trajectories and protect
preparation from concurrent submissions and stop requests.

Add regression tests, dependencies and bilingual FRI documentation.
Include the updated LIN speed-sweep scenario and current 60 ms filter
configuration. Acceleration and jerk limits remain project settings;
physical high-speed twitching is still under investigation.

src/iiwa_config/config/chomp_planning.yaml

@@ -0,0 +1,19 @@
+planning_plugins:
+  - chomp_interface/CHOMPPlanner
+enable_failure_recovery: true
+# The order of the elements in the adapter corresponds to the order they are processed by the motion planning pipeline.
+request_adapters:
+  - default_planning_request_adapters/ResolveConstraintFrames
+  - default_planning_request_adapters/ValidateWorkspaceBounds
+  - default_planning_request_adapters/CheckStartStateBounds
+  - default_planning_request_adapters/CheckStartStateCollision
+response_adapters:
+  - default_planning_response_adapters/AddTimeOptimalParameterization
+  - iiwa_planning/SetRestBoundary
+  - default_planning_response_adapters/AddRuckigTrajectorySmoothing
+  - iiwa_planning/SetRestBoundary
+  - iiwa_planning/LimitSplineDynamics
+  - default_planning_response_adapters/ValidateSolution
+  - default_planning_response_adapters/DisplayMotionPath
+
+ridge_factor: 0.01