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Publish A1 bed positions and a standing arm-clear declaration - #14
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Yang declared on 2026-11-05 that the robot arm is always clear of the A1's
bed travel. `bed_positions.arm_clear` ({declared_by, declared_on,
statement}) records that in the gateway config, and GET /printers/{id}/profile
now publishes `bed_positions` (inspect/pickup Y, feed, declaration) so an
agent can base position_bed's `bed_path_clear` on it instead of asking
before every move (ac-organic-lab §1.3, amended in #105). The declaration
holds while the arm reaches over the plate only under the A1's claim.
Removing it from the config withdraws it.
Agent guide, API reference, README, example config and AGENT_RULES.md
rule 1 updated.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Summary
bed_positions.arm_clear(declared_by,declared_on,statement): the operator's standing statement that the robot arm stays clear of the A1's bed travel.GET /printers/{id}/profilenow publishesbed_positions(inspect_y_mm,pickup_y_mm,feed_mm_min,arm_clear);nullon printers withoutposition_bed.bed_path_clearon the declaration (ac-organic-lab #105 amends §1.3), naming it inreason. Condition: the arm reaches over the plate only while its agent holds the A1's claim, so a bed move cannot start mid-pickup.printers.example.yaml,AGENT_RULES.mdrule 1.The request itself is unchanged:
bed_path_clear: trueis still required on every move.Test plan
uv run pytest -q— 348 passed (2 new)uv run ruff check .🤖 Generated with Claude Code