[cyrilcaoyang]

Summary

Yang approved (2026-11-05) a fifth control verb, A1 only: after a print the bed is parked forward at Y250 for the robot, where the camera cannot see the front of the plate, so agent plate checks fail.

• POST /printers/{id}/control/position_bed with {"position": "inspect" | "pickup", "bed_path_clear": true} moves the bed to the Y configured under the printer's bed_positions (inspect_y_mm, pickup_y_mm, feed_mm_min default 3000).
• Sends exactly G90 / G1 Y<y> F<feed>: no X, no Z, no homing, no caller-supplied coordinate.
• Gates: claim (423); idle, error-free printer, no gateway job in flight (412); edge-verified caller (403); an agent also needs A1 agent mode on (403). bed_path_clear must be literally true.
• Config accepts bed_positions on an A1 only, within the declared bed.
• allowed_actions lists position_bed when the gate is open; each move emits a bed.moved event; an undelivered move returns 502 and is never retried.
• Approval recorded in AGENTS.md and AGENT_RULES.md rule 1; README, API reference, agent guide (the inspect step before the snapshot) and example config updated.

Hardware unknowns

• Whether the A1 accepts G1 Y after the end gcode's M18 without re-homing. If it does not, the move is reported and nothing else happens.
• The right inspect_y_mm: start at 128 and check the camera view.

Test plan

• uv run pytest -q — 346 passed (13 new, all on fake backends)
• uv run ruff check .
• Supervised hardware move on bambu_a1_01: inspect, confirm with camera, then pickup

🤖 Generated with Claude Code

[cyrilcaoyang]

First hardware test of position_bed on bambu_a1_01: passed

Run on 2026-11-05 by agent yang-macbook-claude@lab.local (verified), A1 agent mode on, with a person watching at the printer. Per ac-organic-lab#103 (§1.3), the person confirmed the robot arm was parked clear of the bed's travel; that statement covered these two moves only. No print was started, stopped or approved.

Preconditions: printer idle and cold (24 °C), no claim held, allowed_actions included position_bed.

Time (UTC)	Action	Result
04:41:24	Snapshot oi2Tv9oC…r5U6	Bed in the forward pickup position; front-left corner out of frame; visible plate empty
04:41:40	position_bed inspect	Accepted: {"position":"inspect","y_mm":128.0,"moved_by_verified":true,…}
04:42:00	Snapshot JMdUBoY4…sdT50	Bed moved back towards the centre; front-left corner and notch visible and clear; far corner cut off at the frame edge and under glare
04:42:13	position_bed pickup	Accepted: {"position":"pickup","y_mm":250.0,"moved_by_verified":true,…}
04:42:32	Snapshot SIoOMIfF…rIgc	Bed back where it started, matching the first snapshot
—	Release	204

• Printer screen: no warning during either move (reported by the person at the printer).
• No refusals, so nothing was retried.

Findings

• inspect (Y 128) works for front-left jobs: the front-left corner is clearly in view. The far corner is still partly out of frame. A slightly higher Y (about 140) might show both corners; that needs checking by eye.
• The printer doesn't report bed position. The response's note says so, so the snapshot is the only confirmation that the bed moved.
• Tooling gap (not in this PR): the lab MCP client returns only the response body, so it can't show the exact status code of a successful call.

https://claude.ai/code/session_01MTxE6oSufbKXoZ2SpcLaJq