fix(experement): leave the dock even when the axial retreat is rejected

The tool is already docked before the retreat, so a rejected axial move can fall through to a graded +Y exit at a lower height instead of aborting the route.

src/iiwa_experement/iiwa_experement/operations.py

@@ -451,29 +451,44 @@ class ReferenceOperations:
                 rack_pose,
             )
             self._require_synchronized()
+            try:
                 self._retreat(goal, f'dock_tool({tool_name})')
+            except OperationError as error:
+                # The axial retreat can be rejected from the socket branch.
+                # The tool is already docked, so stepping out is still safe.
+                if 'Планирование' not in str(error):
+                    raise
+                self.motion.reset_stop()
             # Step out of the rack along +Y before any joint-space move; the
-            # axial retreat alone can leave the wrist against its limit.
-            transfer = self._above(goal, self.geometry.transfer_gap)
+            # axial retreat alone can leave the wrist against its limit.  Use a
+            # lower height if the full retreat was rejected.
+            for gap in (
+                self.geometry.transfer_gap, 0.05, 0.02,
+            ):
+                base = self._above(goal, gap)
+                reached = False
                 for offset in (0.10, 0.06, 0.03):
                     exit_pose = Transform.from_xyz_rpy(
                         [0.0, offset, 0.0], [0.0, 0.0, 0.0],
                         parent='world', child='rack_exit_offset',
-                ).compose_relaxed(transfer)
+                    ).compose_relaxed(base)
                     label = (
                         f'dock_tool({tool_name}):exit' if offset == 0.10
                         else f'dock_tool({tool_name}):exit:{offset:.2f}'
                     )
                     try:
                         self._move(
-                        exit_pose, 'lin', self.geometry.speeds['transfer'],
-                        label,
+                            exit_pose, 'lin',
+                            self.geometry.speeds['transfer'], label,
                         )
+                        reached = True
                         break
                     except OperationError as error:
                         if 'Планирование' not in str(error):
                             raise
                         self.motion.reset_stop()
+                if reached:
+                    break
             self._emit('dock_tool', object=tool_name, phase='done')
             return OperationResult(True, 'dock_tool', f'{tool_name} docked', tuple(self.events))
         except Exception as error: