Apply full TCP transforms through planning and readback - #43
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This was referenced Sep 7, 2026
The planner subprocess applies SET_TCP_TRANSFORM (and tool/shape changes) when it plans a command, while that command is still queued. A user STOP or software Estop cancelled the queue but left the planner holding the transform, so every later plan was solved against a TCP the controller never applied and reported. Only the hardware E-stop input and reset resynced; all three cancellation paths now share one resync. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
# Conflicts: # parol6/ack_policy.py
A full user TCP transform is part of every client contract now, so there is no flag to advertise. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01N8zt66KjkzgZLtQuSfJd9r
Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01N8zt66KjkzgZLtQuSfJd9r
Jepson2k
marked this pull request as ready for review
September 18, 2026 03:20
The math conversions and the gripper config classes were imported inside the methods that use them although their modules are already imported at the top; nothing here cycles. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01N8zt66KjkzgZLtQuSfJd9r
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Implements queued full TCP correction and readback across the controller, planner, FK/IK, client and preview. A program can set translation and intrinsic XYZ orientation, then confirm the applied value before using it. Earlier queued motion retains its frame, cancelled pending corrections do not leak into planning, and a tool/variant change clears the correction.
The XYZ API remains available and clears user rotation. Both TCP queries now fail explicitly when the controller does not answer. Tool status includes its applied variant, with legacy status decoding preserved, so a calibration cannot silently bind to different jaws.
Validation: real fake-serial workflows cover full-transform readback, stationary status, local FK, rotated TRF motion, preview, cancellation, legacy XYZ behavior, variant changes and hostile wire values. All 42 selected regression tests pass, including protocol compatibility and existing motion/tool workflows; pre-commit passes.
Depends on #42 and the companion waldoctl contract PR. Uses waldoctl v0.14.0; release the contracts first, then PAROL6 v0.8.0, before Commander adopts those release pins. Same branch name across the companion PRs enables branch-matched CI.
Companion PRs: waldoctl, PAR6, Commander.