Merge controller into dev: bounded trajectories and shared seven-axis limits

Preserve dev TCP gizmo motion-priority handling while integrating Ruckig smoothing, continuous JTC spline validation and shared robot limits. Resolve launch and dependency conflicts without removing either feature set. Verified merged build of 8 packages and tests of 4 packages.
2026-09-21 05:21:28 +03:00
parent b1b8cedef1 0a091ad521
commit 30d64303fc
41 changed files with 1333 additions and 136 deletions
@@ -37,3 +37,7 @@ python3-numpy:
  ubuntu: [python3-numpy]
 python3-scipy:
  ubuntu: [python3-scipy]
+
+# Python binding for the shared JTC spline validator.
+pybind11-dev:
+  ubuntu: [pybind11-dev]