Даниил Грабарь
b26edc3cfc
- 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)
24 lines
313 B
Plaintext
24 lines
313 B
Plaintext
# Generated MkDocs site and PDF output
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doc/lwc-doc/site/
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log/
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/install/
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/build/
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.vscode/
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.idea/
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venv/
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.venv/
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.claude/
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.agents/*
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!.agents/skills/
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.agents/skills/*
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!.agents/skills/openspec-*/
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!.agents/skills/.openspec-target
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!output/
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output/reference_photo/
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*.egg-info
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**.FCBak |