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Hold every joint to its acceleration limit where the path bends, timing the bends the way MoveIt's TOTG does - #55

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Jepson2k wants to merge 8 commits into

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fix/segment-accel-limits

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Hold every joint to its acceleration limit where the path bends, timing the bends the way MoveIt's TOTG does#55
Jepson2k wants to merge 8 commits into
mainfrom
fix/segment-accel-limits

Commits on Oct 11, 2026
- Add the SEPTIC motion profile
  
  Jepson2k
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  claude
  committed
  8e77197
- Run SEPTIC point to point, as par6 does
  
  Jepson2k
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  claude
  committed
  b1e3dcb
- Hold every joint to its acceleration limit as the rows are played
  
  Jepson2k
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  claude
  committed
  e35b2ce
Commits on Oct 12, 2026
- Give TOPP-RA the path's bends, as MoveIt's TOTG does
  
  committed
  624e178
Commits on Oct 13, 2026
- Size corner blends by the control tick and time every profile on them
  
  Jepson2k
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  claude
  committed
  fce3006
- Honour a requested duration under RUCKIG, including its TOPPRA fallback
  
  Jepson2k
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  149c2ca
Commits on Oct 14, 2026
- Re-time requested durations smoothly and keep timing independent of sampling
  
  Jepson2k
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  committed
  0605885
Commits on Oct 16, 2026
- Merge feat/septic-profile into fix/segment-accel-limits
  
  Jepson2k
  and
  claude
  committed
  14750e8