refusals
The silent crash: When collision checkers don't know the jaws closed
A look at a planner failure mode where the Tesseract scene graph only saw static geometry, and how we fix it by binding geometric state directly to capabilities.
Writing
Notes from building it
Decisions, dead ends and measurements, written down as the work happens rather than polished up afterwards. Every post traces back to a file in the repository.
decisions
Stop Drawing Screens: Why Hand-Crafted HMIs Always Drift from PLC Logic
Hand-drawn HMIs inflate project quotes and drift from PLC logic. We generate operator and engineering interfaces directly from module manifests.
field notes
Why an assembly cell costs 400 hours — and why it shouldn't
Every module in an assembly cell knows something important about itself. Almost none of it is written anywhere a tool can read. That single gap is where the 400 hours go.