- _contact transfer/approach and _retreat clear now use deterministic Pilz
PTP joint interpolation; OMPL remains only the automatic fallback
- move_to_joints on the motion server tries PTP first, OMPL on failure
- verified in Webots execute mode: 1, 11, 14, 20 completed; no PTP failures
in 1/11/14/20 server logs, OMPL used only as the fallback
- tighten_hole: lift out of the hole first, then return joint 7 (undoing the
twist at the contact point visibly unscrewed the simulated tightening)
- motion: wait up to 8 s for the measured tcp to converge to the held goal
instead of re-issuing it at once (the Webots controller reports success on
the desired state while the arm still creeps; the re-issue looked like a
violent 5-10 cm snap at dock and handoff transfers)
- reference launches disable the tcp gizmo in the temporary setting.yaml
(cobot-setting.yaml only applies to 'cobot run')
- verified in Webots execute mode after these changes: 5, 11, 14, 15, 20
- 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)
Update the QA table with torque-tool returns for experiments 14-20, refresh the view-mode object counts and TCP drift, and document the transient-planning retry policy.
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.
Exit the rack with a graded +Y move after taking or docking a tool, continue through home after a dock, and fall back from work to home when a joint plan is rejected. Wait for fresh zero-velocity joint states before planning and after joint motion, restore a screw to the planning scene before a pick retry, and twist only the flange joint while simulating tightening so the arm does not leave a reachable IK branch.
Add a torque-tool tightening simulation for experiments 14-20: the tool approaches each empty hole, twists 60 degrees (reversing at the wrist limit), returns and retracts while the screw stays handed off. Lift attached tools vertically clear of the magazine before lateral motion, prefer the close 'work' pose between operations, and reconfigure through home only when planning fails. Settle measured joint positions before verifying joint moves.
Даниил Грабарь