Plugging A Cable End

plugging-a-cable-end

Carry the run's free end into the port, after the last crossing.

Why this is its own skill

A station is a place the cable passes; the port is where it stops. The crossing template exists to get material onto the far side of a post and leave it there under its own tension, and none of that applies to an end being put into a box: there is no side to be on, nothing to reverse around, and the thing that has to arrive is one specific end of the rod rather than whichever span happens to be abreast.

The support hand does it, because it is already holding the end. Measured with a reach sweep on the weave bench, the two arms cover complementary halves and the run's free end lies in the support arm's half — 65 mm outside the work arm's envelope. So the hand that anchored the end is the hand that plugs it: no release, no re-grasp, no second hand crossing the weave. If the support hand cannot be identified the skill refuses rather than guessing, because the only fallback is the known-broken configuration.

What it needs from the connector

This skill requires a connector that registers cable.plan_support, a privileged support-hand planner that reads the true rod state — in simulation the cable-routing suite's connector provides it. Here it is read for two things only: which hand is the support hand (arm_id, arm_name) and the working height its jaws need to straddle a rod on the bench (grasp_m[2]), both arithmetic over the hand's own colliders. It also needs robot.grasp_frame (the straight-down wrist composed from the live hand's measured axes — a literal quaternion is a half turn out on a hand whose approach axis is not tool-local +z), robot.set_grip and robot.wait_steps. The generic connector registers none of the four, which is why the bundle is sim-only today.

Recommended subgraph state flow

plug_port ──plugged──▶ verify
    └──unplugged──▶ verify (the weave layouts have no port; this is normal there)

1. Parse scene (stations) and prior (the rod's centreline as JSON, the rod output of the centreline-perceiving skill carried by the graph). Nothing to terminate → unplugged before any tool call.
2. Segment the terminal blocks from the cable camera (sam3.segment_text), keep those above the score and area floors, and take the one furthest from the rod's anchored end as the port.
3. cable.plan_support for the delivering hand and its working height; no arm_id → unplugged, "no support arm".
4. Read the hand's own pose (robot.get_ee_pose) and the wrist (robot.grasp_frame); stage lift → across (out past the stations) → over → mouth with robot.go_to_pose, each retried 20 and 40 mm lower before it is skipped. Only the mouth is fatal.
5. robot.set_grip(width_m=grip_open_m, arm_id=<support>), settle, retreat back along the bench rather than up.

Inputs and parameters

Parameters with the weave bench's measured defaults: block_query ("orange block"), block_score (0.50), block_min_px (3400), port_inset (0.004 m short of the port's centre), carry_z (0.070 m above the working height — a spool flange stands 23 mm, and the 30 mm this once ran at dragged the tail across the seats). grip_close_m is accepted for uniform binding and unused. Output port is the chosen block's world centroid as a JSON list ("null" when none was found).

Router field

The script's exit is in its exit field (plugged / unplugged), not route; detail carries the reason and whether the carry went routed or on the diagonal.

What a CPU test can and cannot exercise

The early gates (no prior, no support arm), the port choice, and the call order (observe, segment, plan, pose, wrist, four waypoints, open on the support hand, settle, retreat) run against canned tools. What a CPU test cannot exercise is the planner behind cable.plan_support, the segmentation on a real frame, or whether the rod's end actually came with the hand into the channel — that is the task's port clause to say.

Required end states