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.
- Deleted obsolete `test_motion_sequence.py` file.
- Updated `setup.py` to remove references to the old test script and motion configuration file.
- Added `motion_sequence_config.json` to define home position and waypoints for the robot.
- Introduced `motion_sequence_runner.py` to execute motion sequences based on the new configuration format, supporting both joint and pose movements.
- Updated README.md to include examples for data collection and motion sequence testing.
- Modified setting.yaml to change the TCP link for planning from "patron" to "link_ee".
- Refactored move_to_pose_server.py to improve planner configuration readability.
- Updated setup.py to include motion_config.json in package resources and added a new console script for testing motion sequences.
- Introduced motion_config.json to define home joints and poses for motion sequences.
- Added test_motion_sequence.py to implement a test runner for executing motion sequences and recording data to a bag file.
- Implemented action servers for MoveToPose and MoveToJoints.
- Added service for MoveToNamedPose and stop action.
- Updated README with usage examples for new actions.
- Enhanced planning configurations in YAML and Python files.
- Removed deprecated motion planning scripts.
- Implement move_to_pose_server for motion planning using MoveIt
- Create iiwa_msgs package with MoveToPose service definition
- Update iiwa.launch.py to include move_to_pose_server node
- Modify joint_limits.yaml to add position limits for joints
- Remove iiwa_voice package and related files
Даниил Грабарь