docs: record workstation update and controller motion issues

2026-09-15 16:26:44 +10:00
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+# Open issues after workstation test
+
+Recorded: 2026-09-15
+
+## 1. `cobot update` error
+
+On another computer, `cobot update` failed while installing Python libraries.
+The full output was not captured, so the cause is unknown. The next
+investigation needs the Python version, distribution/environment, and the
+complete log starting at the first error.
+
+## 2. Drive knocking in the `controller` branch
+
+While testing branch `controller` on the real KUKA iiwa, motion to known target
+points became jerky and the drives audibly knocked/struck internally. A beep
+was also heard at the end of the motion.
+
+Observed conditions:
+
+- motion to `work`, speed `0.1`: knocking continued throughout the motion and a
+  beep occurred at the end;
+- motion to `home`, speed `0.5`: drive knocking was also present;
+- branch `dev` did not show knocking under these conditions; it appeared only
+  rarely in earlier tests;
+- earlier position plots showed isolated short-lived outliers after which the
+  drive could not reach the target in time.
+
+The issue may be related to the FRI/ros2_control implementation in
+`controller`. Investigation should check the seven-value position format and
+order, FRI timestamps and rate, `COMMANDING_WAIT`/`COMMANDING_ACTIVE`
+synchronization, rate limiting, and the source of short-lived outliers. Until
+investigated, repeat real-robot tests only with operator supervision and a
+ready emergency-stop procedure.
+
+No fix is intentionally included in this record.