Add guarded continuous effort control for MPC - #1
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- Gripper button toggles on rising edge only (was: once per tick while held); edge state tracked every tick and in intervention() - ROS bridge delta_twist_cmds: default unitless [-1,1] semantics with Servo-matching scales + stale-command drop; speed_units opt-out - GN01 width/initial-state conventions aligned with the ROS teleop repo; configurable signs for device-to-robot axis calibration - Version 0.2.0, changelog for undocumented 0.1.6-0.1.8 Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…e-independent twist integration - Initial gripper open/closed state inferred from reported width (intervention() no longer emits close+grasp for an untouched gripper) - Gripper edge actuates with the deadman released (zero-motion servo call) instead of silently flipping internal state - ROS bridge integrates twists over the actual message interval, capped at twist_max_age; jog params validated before hardware connect - Regression tests for all three Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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Companion ActAhead PR will pin commit cc80d82 and switch the planner to the fixed effort action contract.