- 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)
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