Build a Robot-Cell Changeover Plan Preparation in Simulation — implementation

## Build
Evaluate fixture swaps and tooling clearances across simulated robot workcell configurations using MoveIt kinematic reachability checks. Generate verified changeover sequence runbooks and collision-free tool trajectory profiles for manufacturing technicians.

## User
Manufacturing Automation Engineer

## Workflow
1. Ingest robot joint limits and end-effector dimensions from standardized workcell configuration schemas.
2. Simulate tool changeover trajectories in MoveIt to evaluate kinematic envelope margins and obstacle clearances.
3. Detect axis limit exceedances or collision points against stationary fixture geometry models.
4. Compile an operator changeover runbook detailing tooling offsets and validated simulation trajectory waypoints.

## Interface
Browser-based changeover workbench displaying 3D waypoint envelopes, joint margin charts, and step-by-step tool swap checklists.

## Data
Mock URDF and SRDF robot definitions with simulated Cartesian waypoints served via local files, requiring no external credentials.
Starter examples below are synthetic. They are not downloaded records.

## Source
[MoveIt robotics](https://raw.githubusercontent.com/moveit/moveit2/main/README.md)
MoveIt kinematic planning scene models and joint limit parameters from moveit_core and moveit_configs_utils.

## Tools
pydantic-ai, fastapi, pytest.
Enforces strict type validation on kinematic waypoints, clearance tolerances, and operator step checklists.
Fast reasoning LLM accessible via local Ollama or hosted API for generating changeover instructions.

## 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 trajectories exceeding robot joint physical limits.
- Rejects changeover configs with clearance margins under 15mm.
- Emits a structured JSON changeover runbook with step-by-step technician instructions.

## Starter Examples
```json
[
  {
    "input": {
      "cell_id": "CELL_WELD_01",
      "current_tool": "TOOL_GRIPPER_A",
      "target_tool": "TOOL_WELDER_B",
      "fixture_id": "FIX_BRACKET_04",
      "waypoints": [
        {
          "x": 450,
          "y": 120,
          "z": 300,
          "clearance_mm": 28.5
        },
        {
          "x": 600,
          "y": 0,
          "z": 150,
          "clearance_mm": 22
        }
      ],
      "joint_limits_deg": {
        "j1": [
          -170,
          170
        ],
        "j2": [
          -120,
          120
        ]
      }
    },
    "expected_output": {
      "status": "APPROVED",
      "min_clearance_mm": 22,
      "collision_detected": false,
      "runbook_steps": [
        "Lock out Cell CELL_WELD_01 power rail.",
        "Detach TOOL_GRIPPER_A at rest position.",
        "Mount TOOL_WELDER_B and calibrate TCP zero.",
        "Verify clearance at waypoint (600.0, 0.0, 150.0) with 22.0mm buffer."
      ]
    }
  },
  {
    "input": {
      "cell_id": "CELL_WELD_01",
      "current_tool": "TOOL_GRIPPER_A",
      "target_tool": "TOOL_CUTTER_HEAVY",
      "fixture_id": "FIX_BULK_09",
      "waypoints": [
        {
          "x": 780,
          "y": 350,
          "z": 50,
          "clearance_mm": 8
        }
      ],
      "joint_limits_deg": {
        "j1": [
          -170,
          170
        ],
        "j2": [
          -120,
          120
        ]
      }
    },
    "expected_output": {
      "status": "REJECTED",
      "min_clearance_mm": 8,
      "collision_detected": true,
      "runbook_steps": []
    }
  }
]
```

## Safety
Simulates kinematics and tooling paths read-only; does not transmit motion commands to live robot controllers.
Use mock external writes. Require human review before any real deployment.