Даниил Грабарь
0a091ad521
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.
28 lines
875 B
Python
28 lines
875 B
Python
from setuptools import find_packages, setup
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package_name = 'iiwa_utils'
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setup(
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name=package_name,
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version='2026.5.31',
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packages=find_packages(exclude=['test']),
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data_files=[
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('share/ament_index/resource_index/packages',
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['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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],
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install_requires=['setuptools'],
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tests_require=['pytest'],
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zip_safe=True,
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maintainer='daniel',
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maintainer_email='grabardm@ml-dev.ru',
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description='cobot system utilities: configuration loading, object and camera spawning in Webots, geometric data conversion, test motion sequences',
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license='Apache-2.0',
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entry_points={
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'console_scripts': [
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"object_spawner = iiwa_utils.object_spawner:main",
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"camera_spawner = iiwa_utils.camera_spawner:main",
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],
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},
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)
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