- _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.
Preserve dev TCP gizmo motion-priority handling while integrating Ruckig smoothing, continuous JTC spline validation and shared robot limits. Resolve launch and dependency conflicts without removing either feature set. Verified merged build of 8 packages and tests of 4 packages.
Use shared limits for all seven axes across MoveIt, URDF and FRI.
Apply Ruckig smoothing and continuous JTC spline checks, stretching
trajectory timing to respect velocity, acceleration and jerk limits.
Require fresh stationary feedback for direct trajectories and protect
preparation from concurrent submissions and stop requests.
Add regression tests, dependencies and bilingual FRI documentation.
Include the updated LIN speed-sweep scenario and current 60 ms filter
configuration. Acceleration and jerk limits remain project settings;
physical high-speed twitching is still under investigation.
Add a native Webots marker for setting the active tool's TCP position and
orientation. Dragging edits the preview; releasing the mouse submits one
complete, checked joint trajectory with configured TCP speed limits.
Unreachable targets reset the marker to the current TCP.
Preserve coordinate, joint, and control-file commands through motion
reservations and a controller action proxy. Give the gizmo lowest priority
and finish its committed trajectory before dispatching queued regular
commands, including waits longer than the former two-second service timeout.
Place the patron TCP at its working end, 55.2 mm along local Z, and use the
flange TCP when no tool is attached. Add digital_twin.tcp_gizmo configuration,
ROS interfaces, launch integration, and regression coverage.
Document operation, configuration, tool attachment, speed limits, and
troubleshooting in both Russian and English.
Validation: 42 Python tests and 8 C++ tests passed. Webots regressions covered
one action per release, translation and rotation with and without a tool,
unreachable targets, and ordinary commands waiting for gizmo completion.
- Created a new document for the Station interface, detailing its menu structure, process data, safety functions, frames, and smartPAD function buttons.
- Added a document for RobotPowerControl, explaining its purpose for safely shutting down or restarting the KUKA Sunrise Cabinet controller.
- Introduced ServerFriRos2 documentation, outlining its role in establishing an FRI connection between the KUKA LBR iiwa and a ROS 2 computer.
- Documented the TeachKuka application, which allows manual teaching of the KUKA LBR iiwa, including position capturing and trajectory recording.
- Added an overview of Sunrise Workbench, including installation instructions for Windows and Linux.
- Created a section on installing a Windows compatibility tool (PortProton) on Linux.
- Documented the installation process for SunriseWorkbench on Linux using PortProton.
- Added installation instructions for SunriseWorkbench on Windows.
- Created troubleshooting documentation for configuration errors and SSL errors during installation.
- Implemented a hook to generate the shared PDF only during the default-language build.
- Introduced a comprehensive guide for the ServerFriRos2 program, detailing its purpose, setup, and operational procedures.
- Included instructions on configuring network addresses, tool data, initial positions, and FRI cycle periods.
- Provided step-by-step guidance for launching the application and connecting to ROS 2, including troubleshooting tips for connection issues.
- Emphasized safety warnings and operational considerations for using the program with the KUKA LBR iiwa robot.
- Refined introduction to REST API capabilities and usage.
- Added security warnings and best practices for using the API.
- Improved examples for various programming languages (Bash, Python, MATLAB).
- Enhanced endpoint descriptions and added details on request/response structures.
- Clarified the process for moving the robot and handling trajectories.
- Updated sections on sequences and error handling for better clarity.
Eliminates SSL handshake timeouts during rosdep update caused by
unreachable ruby.yaml and fuerte.yaml (ROS 1 legacy sources not
needed for ROS 2 Jazzy).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Создана документация по установке эмулятора Windows (PortProton) на Linux.
- Добавлены шаги по установке SunriseWorkbench на Linux с использованием PortProton.
- Создана документация по установке SunriseWorkbench на Windows.
Fixed .gitignore to use /install/ and /build/ with leading slash
so only the root-level colcon dirs are ignored, not
doc/lwc-doc/docs/sunrise/install/.
Adds install pages (Windows, Linux emulator, Linux workbench)
and 22 step-by-step screenshots that were never deployed.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Create libraries.md for library installation instructions in SunriseWorkbench.
- Create load-project.md for importing existing projects in SunriseWorkbench.
- Create new-project.md detailing the process of creating a new project in SunriseWorkbench.
- Add applications.md to describe the applications section in KUKA smartHMI.
- Add extra-menu.md for additional robot control options in KUKA smartHMI.
- Create io-group.md for managing input/output groups in KUKA smartHMI.
- Add robot-menu.md as a placeholder for the robot menu section in KUKA smartHMI.
- Create station.md to outline the main navigation and functionalities in KUKA smartHMI.
- Add LBRserver.md, robot-power-control.md, and teach-kuka.md as placeholders for respective control programs.
- Create config-error.md to provide troubleshooting steps for configuration errors in SunriseWorkbench.
- Add main.html to override base template with site root metadata.
Даниил Грабарь