fix(experement): honest collision poses, mandatory lifts, rest-to-rest waits; 20/20 verified

- forbid the transport pose; recovery reconfigures through work only
- mandatory axial lift after every contact (handoff, tighten, dock, pick)
- untwist the flange after simulated tightening so joint 7 never winds up
- attach carried tool/cap/screw to the MoveIt scene; explicit REMOVE diffs
- add_world receives box-centre poses (placed_cap_pose, restore_world)
- table top lowered below the base_link collision mesh bottom (1 mm gap bug)
- 1 mm clearances for cap/screw boxes; thinner cap world box (cup clearance)
- wait for a stationary arm before every planning attempt (rest-to-rest)
- loosen stopped_velocity_tolerance to 0.08 for reference launches only
- retry a rejected named move once after settling (startup telemetry race)
- adapter logs the exact reason and max joint velocity on start-state rejects
- verified: all 20 experiments completed in Webots execute mode (10.11.2026)

.gitignore

@@ -17,10 +17,8 @@ venv/
 .codex/
 __pycache__/
 .pytest_cache/
-output/
+!output/
+output/reference_photo/
 
 *.egg-info
-**.FCBak
-
-CLAUDE.md
-AGENTS.md
+**.FCBak