Build the application

## Build
Assess robotic tool payload changes and end-effector envelopes against MoveIt robot safety configurations. Generate acceptance validation dossiers before cell recommissioning.

## User
Cell Safety Specialist

## Workflow
1. Parse robot URDF and MoveIt planning scene models to extract configured payload limits.
2. Evaluate mock end-effector tool change metrics and measured inertial distributions.
3. Calculate boundary envelope compliance during maximum extension trajectories.
4. Export an equipment recommissioning acceptance dossier with pass/fail declarations.

## Interface
Multi-axis clearance report viewer showing payload margins, center of mass drift, and sign-off forms.

## Data
Normalized JSON models of robot URDF link masses and MoveIt kinematic reachability points.
Starter examples below are synthetic. They are not downloaded records.

## Source
[MoveIt robotics](https://raw.githubusercontent.com/moveit/moveit2/main/README.md)
Extracts kinematic and dynamic payload validation principles described in MoveIt core motion planning documentation.

## Tools
anthropic-claude, numpy, pydantic.
Claude Opus provides thorough structural reasoning over multi-variable physics constraints and compliance narratives.
Requires hosted Claude API via official SDK for safety analysis and compliance dossier drafting.

## Deliverables
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.

## Acceptance
- Flags tool configurations exceeding rated robot payload mass or center of gravity limits.
- Validates dynamic clearance across all simulated motion trajectories.
- Produces a structured acceptance dossier ready for safety auditor sign-off.

## Starter Examples
```json
[
  {
    "input": {
      "robot_model": "IRB_6700_150",
      "rated_payload_kg": 150,
      "proposed_tool": {
        "mass_kg": 110,
        "cg_z_mm": 210,
        "max_rated_cg_z_mm": 300
      },
      "max_extension_clearance_mm": 120
    },
    "expected_output": {
      "recommissioning_verdict": "APPROVED",
      "payload_margin_kg": 40,
      "cg_compliance": true,
      "clearance_status": "WITHIN_SAFE_LIMITS"
    }
  },
  {
    "input": {
      "robot_model": "IRB_6700_150",
      "rated_payload_kg": 150,
      "proposed_tool": {
        "mass_kg": 155,
        "cg_z_mm": 340,
        "max_rated_cg_z_mm": 300
      },
      "max_extension_clearance_mm": 15
    },
    "expected_output": {
      "recommissioning_verdict": "REJECTED",
      "payload_margin_kg": -5,
      "cg_compliance": false,
      "clearance_status": "EXCEEDED_CRITICAL_BUFFER"
    }
  }
]
```

## Safety
Verification occurs purely against offline kinematic models; no commands transmitted to real robot controllers.
Use mock external writes. Require human review before any real deployment.