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Report the nearest arm point to each keep-out - #57
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The controller read commands into a 1024-byte buffer, and the kernel truncates a longer datagram to fit. A SET_SHAPES carrying about a dozen keep-outs is longer than that, so a whole workcell failed with "Decode error: Input data was truncated". The buffer now holds 65535 bytes, allocated once as before. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Q4aXBLJyxHmGVUxK4KJqgn
Robot.clearances(q) returns, for every keep-out of either layer, the arm or tool geometry closest to it: both witness points in world metres and the signed distance, nearest first, named as colliding_pairs names them. It asks pinokin's nearest_points for the keep-out pairs only, and the keep-out list is cached when shapes or the tool change, not per call. Needs pinokin's CollisionChecker.nearest_points (pinokin 6f88065). Implemented by Codex from Claude's spec. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Q4aXBLJyxHmGVUxK4KJqgn
Robot.clearances calls CollisionChecker.nearest_points, which first ships in pinokin 0.1.9. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Q4aXBLJyxHmGVUxK4KJqgn
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Q4aXBLJyxHmGVUxK4KJqgn
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Q4aXBLJyxHmGVUxK4KJqgn
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Robot.clearances(waldoctl's new API): for every keep-out, the arm or tool part closest to it, with both nearest points and the signed distance. It uses pinokin 0.1.9'sCollisionChecker.nearest_pointson the keep-out pairs only. The keep-out list is rebuilt when the shapes or the tool change, not on every call.SET_SHAPESwith about a dozen keep-outs failed with "Input data was truncated". The buffer now holds 65535 bytes, still allocated once.Waldo Commander uses this for clearance lines (Jepson2k/Waldo-Commander#84).
— written by Claude on behalf of @Jepson2k
🤖 Generated with Claude Code
https://claude.ai/code/session_01Q4aXBLJyxHmGVUxK4KJqgn