Add explicit motion controls to the SO-ARM101 template - #18
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temiroff
marked this pull request as ready for review
July 23, 2026 21:09
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What changed
ROS2SetJointwhile retaining the disarmed default.Why
The motion authorization and target angle were embedded in node parameters, making the intended command state harder to inspect and change safely.
Impact
The SO-ARM101 motion test now exposes the two consequential inputs directly on the graph with a clear preview-first flow.
Checks
python -m pytest packages/blacknode-robot/tests -q— 49 passed