Build a Robot-Cell Kinematic Reachability and Tooling Swap Verifier

Assess robotic tooling geometry changes against simulated cell envelopes using MoveIt models. Flag reachability limits and produce safety sign-off packets before physical installation.

Robotics Integration Specialist

Parse tool frame dimensions and end-effector joint bounds from simulated MoveIt configuration files.

Model workpiece grasp coordinates against robot workspace kinematic boundaries.

Detect axis limit exceedances and workspace boundary collisions.

Compile a tooling swap validation packet with joint margin scorecards.

3D bounding box visualizer with joint limit deviation tables and sign-off export.

Construct synthetic MoveIt robot description files (URDF/SRDF fragments) and coordinate point arrays stored in a local repository directory. Starter examples below are synthetic. They are not downloaded records.

MoveIt robotics MoveIt 2 kinematic manipulation envelopes and joint limit configuration structures described in Source 1.

mastra-ai, zod, threejs. Mastra AI supports deterministic TypeScript-driven workflow orchestration with strict step validations. High-capability reasoning model for spatial translation check verification and parameter extraction.

Submit runnable source, pinned dependencies, setup commands, a working interface, example outputs, and a recorded end-to-end demo. Include tests and an action log.

Flags grasp targets exceeding simulated robot reach envelopes.

Calculates individual joint clearance percentages against soft limit stops.

Exports structured tool clearance reports compliant with inspection standards.

```json [ { "input": { "robot_model": "Arm_6DOF_v1", "tool_offset_xyz": [ 0, 0, 0.25 ], "target_grasp_xyz": [ 0.85, 0.2, 0.4 ], "max_reach_radius": 0.9, "joint_limits_rad": { "joint_5": [ -2, 2 ] }, "projected_joint_5_rad": 1.75 }, "expected_output": { "reachability_status": "VALID", "distance_to_boundary_m": 0.026, "joint_margin_percent": 12.5, "sign_off_ready": true, "recommendation": "Tooling swap within kinematic reach bounds. Proceed to offline motion rehearsal." } }, { "input": { "robot_model": "Arm_6DOF_v1", "tool_offset_xyz": [ 0, 0, 0.4 ], "target_grasp_xyz": [ 1.1, 0, 0.5 ], "max_reach_radius": 0.9, "joint_limits_rad": { "joint_5": [ -2, 2 ] }, "projected_joint_5_rad": 2.45 }, "expected_output": { "reachability_status": "EXCEEDED", "distance_to_boundary_m": -0.308, "joint_margin_percent": 0, "sign_off_ready": false, "recommendation": "Target exceeds maximum radial reach and joint_5 limit. Reconfigure fixture placement." } } ] ```

Analytical review in simulation only. No robot trajectory commands or physical motion actuations are emitted. Use mock external writes. Require human review before any real deployment.