Carry the seventh shape wire element and refuse physics explicitly - #40
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waldoctl's Shape.to_wire() now emits [kind, params, pose, collision, margin, name, physics]. ShapeWire carries the seventh element (defaulted, so pre-physics peers still decode) and hands it to shape_from_wire, and the set-level validation refuses any shape that declares physics: this backend has no contact simulation, and silently flattening a body to its geometry would let a program believe it was being simulated. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
# Conflicts: # tests/integration/test_shapes_e2e.py
`--examples` is opt-in and CI ran a bare `pytest`, so nothing had executed these scripts in a long time — and they are the code a user copies. Half of them failed on their own happy path against a stock simulator. Three never referenced the robot before commanding planned motion, which is refused outright. `precision.py` looked like it did: it homed only when the arm was not already NEAR the home angles, but a freshly started robot reports positions it has not homed to, so the guard skipped the very step the moves below needed. Proximity is not referencing; all three now home first, as the refusal's own remedy says. `demo_showcase.py` swept the wrist +/-20 degrees about each tool axis, which at that pose leaves the reachable set part-way through and comes back as "IK: partial path failure". Ten degrees clears it and still shows what the sweep is there to show — the pencil tip holding still while the wrist turns. CI now runs them after the suite, so the next one to rot says so. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
The example and the program loaded in Waldo Commander had drifted apart, and the WC one is the copy that gets run and watched. It sweeps 40 degrees with the pencil offset on tool X; the example had been changed to offset on tool Z by b1fe085 and nobody re-checked the sweep against it, so at 20 degrees the rotation path left the workspace and the move was refused with "IK: partial path failure" (190/200 poses reachable). Copied across as-is rather than reconciled by hand, so the script that ships as the example is the script that actually gets demonstrated. It runs standalone too — `pytest tests/test_examples.py --examples` drives it as a subprocess against the simulator. Note b1fe085's reasoning still stands on its own terms ("SSG-48 tool transform is along Z"), and precision.py still carries the Z offset; if that one is wrong too it wants the same treatment. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
Same treatment as demo_showcase, and the same divergence: b1fe085 moved the pencil offset to tool Z in the example while the program actually run and watched in Waldo Commander kept it on tool X and sweeps 40 degrees. Copied across as-is so the script that ships as the example is the script that gets demonstrated. Verified standalone — `pytest tests/test_examples.py::test_example_runs[precision.py] --examples` drives it as a subprocess against the simulator. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
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Part of the coordinated
feat/mujoco-world-modelchange. Branch-matched PRs:waldoctl (types), par6 (backend), Waldo-Commander (frontend).
waldoctl's
Shapewire form grows a seventh element,physics, which marks ashape as a body in a backend's contact simulation. parol6 has no contact
simulation, so it accepts the wider wire and refuses
physicsexplicitlyrather than ignoring it — a silently dropped body would be a shape the caller
believes is simulated and the arm treats as scenery.
Testing
parol6's suite plus Waldo-Commander's, which exercises this backend end to end
(360 passed).
🤖 Generated with Claude Code