verifying-a-cable-route

Is every station seated, and am I off the rod — answered from a frame, with margins.

Why this is its own skill

A policy that can only know it is finished by asking a simulator's evaluator is not a policy that could run in a cell. The route's success criteria are visible — rod material in a box beside each post, a hand some distance from the rod — and this skill measures exactly those, on the same stations the plan was built on, with the same centreline tools the routing loop used. It is a judgement, not a score: it does not reproduce a scorer's containment arithmetic (agreeing with a number one cannot see is how a graph ends up disagreeing with the thing the number was about) but it reports its own margins so any disagreement is diagnosable.

Measured on a three-spool bench: one disagreement with the evaluator in twelve episodes, and that one was the old pixel-counting test passing on a stray fleck of mask — the reason the seat clause now counts a fraction of the densified centreline (the goal's own 0.047) instead.

When to use

• The last crossing has been released and the work hand has retreated; the cable camera has a clear view of the route.
• The plan's scene (stations along +y, the side each owes) is available — the stations are not re-detected, because a second independent detection is a second chance to mis-order the posts.

When NOT to use

• Mid-route: with a hand on the rod the release clause cannot pass and a short fit is likely. Verify once, at the end.
• A route whose success is not "rod on a side of each post" (a wrap count, a plug in a port) — measure that instead.

State flow

scene ──► stations + sides (the plan's)
frame ──► rod mask ──► cold fit
              │ whole rod (≥ whole_rod × len(prior), or no prior) ──► use it
              │ short and a prior exists ──► track the prior onto the frame
              ▼
resample every sample_step ──► per station: rod abreast (|Δy| ≤ seat_band),
      offset onto the owed side in [seat_inner, seat_reach], ≥ seat_fraction of the rod?
hand: min distance from the rod > clear_m?
all seated and clear ──► woven, else short

The support hand is usually still holding the far end when this runs, and a cold fit truncated there does not say it is truncated — it reports a station with no rod. Measured: the station nearest the support grip came back no-rod in every episode of one layout, including ones the evaluator scored 3 of 4. Tracking the carried prior onto the frame carries that end through.

Per station the outcome is one of seated, wrong-side (the best point is on the far side of the post; the signed margin is negative), outside-box (right side, beyond the seat's reach) or no-rod (nothing abreast; margin is NaN). A previous revision read a wrong-side margin as a near-miss and a build was spent pressing harder on a cable on the far side of its post.

Inputs

• scene — the survey JSON from perceiving-routing-fixtures; stations and sides are read.
• prior — the centreline the loop carries (JSON text: a list of [x, y, z] points, or a Centerline object with points); empty when there is none, in which case the cold fit is used as is.
• camera ("cable", 0.50 mm/px against the overhead's 1.75), rod_query ("thin white cable"), rod_score (0.20), curve_nodes (42), whole_rod (0.80), sample_step (0.002 m).
• Goal-clause constants, defaults from the goal this was written against: seat_reach (0.045, the box's outer edge), seat_inner (0.003, its inner edge — rod pressed against the post is not in the box), seat_band (0.035, the box's half-extent along the run), seat_fraction (0.047 of the rod), clear_m (0.05, the tcp-distance clause).

Outputs

• exit — woven | short. The router field is exit, not route; wire the subgraph's exit on it.
• success — the same verdict as a bool.
• seated — one bool per station, in scene order (stated here rather than under produces_outputs because the type registry names no bare list of bools).
• worst_margin_m — the smallest finite signed margin across stations (negative: wrong side); 0.0 when none is finite.
• tcp_clear_m — the hand's distance from the nearest rod sample.
• detail — "k/n seated (need of N nodes each): seated, wrong-side, …; hand D mm off the rod".

Required end states

End state	Meaning
woven	Every station seated on its owed side and the hand is clear. Stop.
short	Something is not: read detail and seated for which station and why.