Fail disconnected links at rest, and seat the SO-100 elbow, wrist, and claw

[w1ne]

Rest-pose body gate

mechanism.joint-mesh-gap used to run only inside the BREP pose sweep. SO-100 is over that budget, so the sweep was skipped, the verdict stayed unverified, and evaluate_script still returned ok. A link that never meets its joint therefore passed.

The rest-pose check now runs even when the sweep is skipped. A gap is severity error, so mechanism is broken and evaluate / review fail. Bearing contact is the distance between the two mated bodies, and only when that contact is within 32 mm of the joint axis. A fastened servo box, or a fingertip pinch far from the axis, does not count. solvedModel({ ignore }) does not apply. If the assembly does not lower, the same gate fails closed instead of reporting unverified.

The pose sweep itself is unchanged: when it is over budget it is still a warning, so collision across travel can remain unverified. A disconnected link is no longer hidden inside that warning.

SO-100 elbow, wrist, and claw

The elbow shells met only 39 mm off the axis. The wrist shells were 4.2 mm apart, with both pivots about 20 mm outside the vendor meshes. Printed axle bosses are the revolute children at those joints, and the next shell fastens to the boss, so the yellow links meet on the axis.

The moving jaw is the vendor STEP, baked through the wrist roll as well as the gripper rotation, so the finger lies in the fixed jaw's closing plane. At the closed stop the hand and jaw are 0.42 mm apart near the jaw axis. A passive horn is fastened on the jaw mount.

After the bosses, rest-pose mechanism.joint-mesh-gap is clean. The pose sweep is still over budget, so the mechanism verdict is unverified, not real.

No live share: POST https://api.kernelcad.com/api/v1/save returns 401 missing_token. Studio viewer UI was not changed. Do not merge.

Paint

Straight rest pose, jaw closed, navy #0a1628.

SO-100 arm at rest

SO-100 gripper, wrist, and jaw

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