- 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)
