[MMarcus95]

Changes by submodule

• dls_hal:
  • Safety state machine with recovery modes: emergency stop, damping, and virtual endstop enforcing.
  • Dynamic virtual endstop in place to preserve mechanical joint endstop.
  • IO and event threads decoupled from the real-time loop.
  • Detection of motor faults, motors not operational, and EtherCAT nodes not discovered or detached.
  • Unit tests and an end-to-end anomaly tester.
  • See the dls_hal PR.
• dls2:
  • New event IDs for the new anomalies, plus the removal of the breaking-mechanics event.
  • Generic scheduling policy (SCHED_OTHER) is now supported in PeriodicApp.
  • Startup discovery timeout fixes.
  • Safety docs updated.
• transport_interfaces / dls2_msgs:
  • New HAL safety debug and motor fault fields.
  • Controller debug fields (estimated GRFs, MPC/OCP data).
  • UDP is now the default transport.
  • duration_utils is now a submodule.
• dls2_ros2_interface: ROS 2 messages and bridge updated to the new message fields, including motor fault and control debug.
• robotlib / pinocchio-gluecode: friction and armature getters; fixed test compilation.