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_web/test/test_trajectory_admission.py

@@ -0,0 +1,75 @@
+import time
+from pathlib import Path
+from types import SimpleNamespace
+import pytest
+from sensor_msgs.msg import JointState
+from fastapi import HTTPException
+from iiwa_web import trajectory as api
+
+
+@pytest.fixture
+def bridge(monkeypatch):
+    msg = JointState()
+    msg.name = [f'joint{i}' for i in range(7,0,-1)]
+    msg.position = [0.] * 7
+    msg.velocity = [0.] * 7
+    msg.header.stamp.sec = 100
+    params = dict(trajectory_state_timeout=.5, trajectory_start_tolerance=.001,
+                  trajectory_stopped_velocity=.01,
+                  joint_limits_path=str(Path(__file__).resolve().parents[2] / 'iiwa_config/config/moveit/joint_limits.yaml'))
+    published = []
+    node = SimpleNamespace(
+        state=msg, age=0., published=published,
+        get_parameter=lambda key: SimpleNamespace(value=params[key]),
+        get_clock=lambda: SimpleNamespace(now=lambda: SimpleNamespace(nanoseconds=100_000_000_000)),
+        publish=lambda topic, typ, payload: published.append(payload))
+    node.get_latest = lambda topic: node.state
+    node.get_latest_with_age = lambda topic: (node.state, node.age)
+    monkeypatch.setattr(api, 'get_bridge', lambda: node)
+    monkeypatch.setattr(api, '_direct_until', 0.)
+    return node
+
+
+def test_stale_and_moving_state_not_published(bridge):
+    for age, speed in [(1.,0.),(0.,.2)]:
+        bridge.age=age; bridge.state.velocity[0]=speed
+        with pytest.raises(HTTPException): api._send_rows([([.1]*7,1.)])
+    assert not bridge.published
+
+
+def test_normal_preparation_and_duplicate_admission(bridge):
+    msg, duration, scale = api._send_rows([([.1]*7,.1)])
+    assert duration > .1 and scale > 1
+    assert list(msg.points[0].positions) == [0.]*7
+    assert list(msg.points[-1].positions) == [.1]*7
+    assert len(msg.points[1].accelerations) == 7
+    with pytest.raises(HTTPException): api._send_rows([([.2]*7,1.)])
+    assert len(bridge.published) == 1
+
+
+def test_state_rechecked_after_preparation(bridge, monkeypatch):
+    original=api.prepare_trajectory
+    def prepare(*args):
+        result=original(*args)
+        bridge.state.position[0]=.02
+        return result
+    monkeypatch.setattr(api,'prepare_trajectory',prepare)
+    with pytest.raises(HTTPException): api._send_rows([([.1]*7,1.)])
+    assert not bridge.published
+
+
+def test_stop_cancels_inflight_preparation(bridge, monkeypatch):
+    original=api.prepare_trajectory
+    def prepare(*args):
+        result=original(*args)
+        api.send_stop_trajectory()
+        return result
+    monkeypatch.setattr(api,'prepare_trajectory',prepare)
+    with pytest.raises(HTTPException): api._send_rows([([.1]*7,1.)])
+    assert len(bridge.published)==1  # stop only
+
+
+def test_stop_handles_missing_named_feedback(bridge):
+    bridge.state.name=[]
+    api.send_stop_trajectory()
+    assert len(bridge.published)==1 and not bridge.published[0].points