Follow-up from #689. On the *_polished 7-DOF arms (gen3, xarm7, …), Chart.margin is computed on the approximate chart, while in_limits contacts come from walking the true curve. The documented invariant (positive margin exactly where in_limits has an arc of positive width; within the error band of zero at a contact) has not been verified there. The #689 review's probe also crashed on those arms, on a joint with no limits.
#689 restricts the guarantee to closed-form charts.
Acceptance: either establish that the invariant holds on polished charts, with a dense-scan comparison as in #689's tests, or document precisely how it fails. The crash on joints without limits should be fixed or explained. Related: #701 (Tracker redundancy on polished arms).
Follow-up from #689. On the
*_polished7-DOF arms (gen3, xarm7, …),Chart.marginis computed on the approximate chart, whilein_limitscontacts come from walking the true curve. The documented invariant (positive margin exactly wherein_limitshas an arc of positive width; within the error band of zero at a contact) has not been verified there. The #689 review's probe also crashed on those arms, on a joint with no limits.#689 restricts the guarantee to closed-form charts.
Acceptance: either establish that the invariant holds on polished charts, with a dense-scan comparison as in #689's tests, or document precisely how it fails. The crash on joints without limits should be fixed or explained. Related: #701 (Tracker redundancy on polished arms).