Add self-collision checking with pinokin CollisionChecker#5

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Jepson2k wants to merge 11 commits into

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claude/add-collision-checking-mHp47

Commits on May 12, 2026

Wire pinokin CollisionChecker into motion-command pre-flight checks
Jepson2k
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Add SYS_SELF_COLLISION catalog template + joint_commands guard wiring + collision integration tests
Jepson2k
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Wire collision guards into cartesian_commands + config + Robot public methods
Jepson2k
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Add COLLISION_* config knobs + Robot public collision methods
Jepson2k
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Skip collision integration tests when CollisionChecker is unavailable
Jepson2k
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Build matching-branch pinokin from source in CI (no graceful degradation)
Jepson2k
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Apply ruff-format to PAROL6_ROBOT.py + joint_commands.py
Jepson2k
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Apply ruff-format to cartesian_commands.py
Jepson2k
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Apply ruff-format to config.py + robot.py
Jepson2k
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Commits on May 14, 2026