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Add guarded continuous effort control for MPC - #1

Draft

ZihaoLu001 wants to merge 13 commits into

mainfrom

agent/continuous-gn01-effort-mpc

Draft

Add guarded continuous effort control for MPC#1
ZihaoLu001 wants to merge 13 commits into
mainfrom
agent/continuous-gn01-effort-mpc

Commits on Jul 30, 2026
- Fix level-triggered gripper toggle and twist unit semantics
  
  ZihaoLu001
  and
  claude
  committed
  6779db3
- Review fixes: gripper state inference, deadman-free gripper edge, rate-independent twist integration
  
  ZihaoLu001
  and
  claude
  committed
  84d7fae
- release: unify ActAhead client and server as v0.2.1
  ZihaoLu001
  committed
  9996b7b
- test: handle RDK builds without torque mode
  ZihaoLu001
  committed
  e11f114
- feat: expose read-only trajectory protocol identity
  ZihaoLu001
  committed
  36e3e9d
Commits on Aug 1, 2026
- release:ActAhead-sim2real-contract-v0.2.2
  ZihaoLu001
  committed
  d177463
- feat:joint-gripper-sync-v0.2.3
  ZihaoLu001
  committed
  0dc7aca
- fix: rebase joint prefixes on fresh telemetry
  ZihaoLu001
  committed
  3d19801
- fix: wait for GN01 move target
  ZihaoLu001
  committed
  0c95fc0
Commits on Aug 13, 2026
- feat: add continuous signed gripper effort targets
  ZihaoLu001
  committed
  2583884
- feat: add guarded joint torque trajectory control
  ZihaoLu001
  committed
  cc80d82
- docs: define continuous effort MPC contract
  ZihaoLu001
  committed
  e2b2545
Commits on Aug 14, 2026
- fix: separate MPC gripper latent from physical feedback
  ZihaoLu001
  committed
  349d2cb