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2026-02-16 00:14 +11:00

  • Task summary:
    • Refined the sidebar drawer/panel UX after user feedback.
    • Moved the drawer close button into the panel title-line area and removed redundant outer framing behavior.
    • Kept robot control docked on the right side with collapsible behavior.
    • Added persistent workflow artifacts (AGENT_SCRATCHPAD.md) and top-level pointers so devlog/scratchpad/skills usage is explicit.
  • Changes:
    • Updated web-ui/src/components/SidebarDrawer.tsx for in-panel close-button placement and drawer sizing.
    • Updated web-ui/src/App.tsx and web-ui/src/ControlPanel.tsx in prior steps for right-aligned collapsible robot-control behavior.
    • Added AGENT_SCRATCHPAD.md.
    • Updated QUICK_START.md with a dedicated workflow pointers section for DEVLOG.md, AGENT_SCRATCHPAD.md, and .cursor/skills/.
  • Validation:
    • npm run build in web-ui completed successfully.
    • ReadLints checks reported no lint errors in changed frontend files.
  • Follow-up notes / risks:
    • Close button placement depends on panel title spacing; if panel typography changes later, tweak top/right offsets in SidebarDrawer.
    • If additional drawer panel types are introduced with different widths, keep drawer width and content width synchronized.

2026-02-16 00:20 +11:00

  • Task summary:
    • Fixed tab-forcing behavior where STEP load / persisted tree selection auto-switched to Weld and blocked switching to other tabs.
    • Kept tree-to-weld synchronization, but limited panel auto-open to explicit tree click actions only.
  • Changes:
    • Updated web-ui/src/App.tsx:
      • removed forced activePanel reassignment from the selected-tree-node effect.
      • kept weld segment sync from tree selection (weldSegmentEdgeId) without overriding active tab.
      • updated handleSelectProgramTreeNode to open a panel only when user directly clicks a tree node.
  • Validation:
    • ReadLints on web-ui/src/App.tsx returned no issues.
    • npm run build in web-ui completed successfully.
  • Follow-up notes / risks:
    • If future tree sync rules are added, keep them non-authoritative over manual sidebar tab selection.

2026-02-16 21:51 +11:00

  • Task summary:
    • Moved Reset Pose to the bottom of the STEP Import panel as requested.
    • Addressed multi-selected edge flicker/override behavior by decoupling tree-driven sync from weld-driven selection updates.
  • Changes:
    • Updated web-ui/src/App.tsx:
      • relocated Reset Pose button to panel footer.
      • introduced interaction origin tracking (tree vs weld) to prevent selection ping-pong between program tree and weld segment list.
      • restricted tree-to-weld segment activation to explicit tree-origin events.
    • Updated web-ui/src/ArmVisualizer.tsx:
      • made selected/hovered topology line materials opaque (transparent=false) to reduce visual flicker when multiple edges are selected.
  • Validation:
    • ReadLints on updated frontend files returned no issues.
    • npm run build in web-ui completed successfully.
  • Follow-up notes / risks:
    • If flicker persists on specific GPU drivers, next step is to move selected-edge rendering fully to non-overlapping mesh overlays and hide base lines for selected edges.

2026-02-17 10:32 +11:00

  • Task summary:
    • Enforced automatic memory-loop behavior so agents consistently use both AGENT_SCRATCHPAD.md and DEVLOG.md.
  • Changes:
    • Added .cursor/rules/agent-memory-loops.md with alwaysApply: true.
    • Updated .cursor/rules/agent-gated-checklist.md to include mandatory scratchpad/devlog read/write gates.
    • Rule now requires:
      • start-of-task read of both memory files,
      • during-task high-signal capture,
      • end-of-task writeback to both files.
  • Validation:
    • Verified new rule file exists under .cursor/rules/ with frontmatter and actionable workflow steps.
  • Follow-up notes / risks:
    • Existing already-running sessions may need a fresh user turn to naturally re-anchor on the new rule text.

2026-02-17 10:45 +11:00

  • Task summary:
    • Added explicit pointers from memory-loop docs to the exact source skills and managed files.
  • Changes:
    • Updated .cursor/rules/agent-memory-loops.md with a required mapping section:
      • .cursor/skills/learning-scratchpad-loop/SKILL.md -> AGENT_SCRATCHPAD.md
      • .cursor/skills/devlog-loop/SKILL.md -> DEVLOG.md
      • Included both reference templates under each skill.
    • Updated QUICK_START.md workflow pointers to include the same direct skill/template/file paths.
  • Validation:
    • Confirmed reference template paths exist:
      • .cursor/skills/learning-scratchpad-loop/references/scratchpad-template.md
      • .cursor/skills/devlog-loop/references/devlog-entry-template.md
    • ReadLints on updated markdown files reported no diagnostics.
  • Follow-up notes / risks:
    • None for this docs/rules alignment change.

2026-02-17 00:12 +11:00

  • Task summary:
    • Replicated explicit scratchpad/devlog skill mappings across all always-on rules so they stay in context everywhere.
  • Changes:
    • Updated .cursor/rules/agent-gated-checklist.md with required skill/template/file mapping section.
    • Updated .cursor/rules/agent-ambiguity-triggers.md with required skill/template/file mapping section.
    • Updated .cursor/rules/agent-subagents.md with required skill/template/file mapping section.
    • Updated .cursor/rules/rtos-ethercat-readme.md with required skill/template/file mapping section.
  • Validation:
    • Confirmed .cursor/rules/ files with alwaysApply: true now all include direct pointers to:
      • .cursor/skills/learning-scratchpad-loop/SKILL.md -> AGENT_SCRATCHPAD.md
      • .cursor/skills/devlog-loop/SKILL.md -> DEVLOG.md
    • ReadLints on edited markdown files reported no diagnostics.
  • Follow-up notes / risks:
    • New alwaysApply rules introduced in future should copy the same mapping section to preserve consistency.

2026-02-17 00:41 +11:00

  • Task summary:
    • Implemented the full "Weld Motion + Tree UX" pass:
      • compact Program Tree rows
      • chronological/default and grouped/toggle views
      • weld section planning with pragmatic transitions
      • torch angle controls and backend option plumbing
      • improved weld planner diagnostics and runtime robustness.
    • Addressed follow-up workflow gap by explicitly logging this session in both DEVLOG.md and AGENT_SCRATCHPAD.md.
  • Changes:
    • Updated web-ui/src/components/ProgramFeatureTree.tsx for compact single-line rows and view-mode controls.
    • Updated web-ui/src/previewUtils.ts for grouped vs chronological tree generation and stable node reuse.
    • Updated web-ui/src/App.tsx:
      • persisted programTreeViewMode (default chronological),
      • added weld controls (workAngleDeg, travelAngleDeg, transitionClearanceMm, postAction),
      • added section generation for weld/transition/return-to-start planning payloads.
    • Updated src/gradient_os/api/main.py:
      • section payload parsing (_coerce_plan_sections),
      • weld option passthrough,
      • weld program save/load fields for new weld settings.
    • Updated src/gradient_os/arm_controller/command_api.py:
      • section-aware weld planning path,
      • continuous interior weld planning behavior,
      • transition section handling,
      • torch-angle orientation generation with fallback,
      • preview planned-step cache save for weld previews.
  • Validation:
    • Frontend: npm run build passed.
    • Frontend: ReadLints on changed TS/TSX files reported no issues.
    • Backend: ./.venv/Scripts/python.exe -m py_compile "src/gradient_os/api/main.py" "src/gradient_os/arm_controller/command_api.py" passed.
    • Backend smoke test:
      • plan_preview_trajectory_points(..., sections=..., weld_metadata=...) ran successfully after orientation-fallback path engaged for an infeasible torch-angle segment.
  • Follow-up notes / risks:
    • Torch-angle requests can still be IK-infeasible for some geometries; fallback to orientation-lock prevents hard failure but may not preserve requested angle.
    • Full collision-aware transition planning remains intentionally deferred; tracked as future backlog work.

2026-02-17 00:47 +11:00

  • Task summary:
    • Fixed sidebar menu overflow so panel content does not exceed viewport height.
  • Changes:
    • Updated web-ui/src/components/SidebarDrawer.tsx:
      • clamped drawer height to max-h-[calc(100dvh-3rem)]
      • enabled internal vertical scrolling via overflow-y-auto.
  • Validation:
    • Frontend: npm run build passed.
    • Frontend: ReadLints on web-ui/src/components/SidebarDrawer.tsx reported no issues.
  • Follow-up notes / risks:
    • If additional absolute/fixed panel variants are introduced, apply the same viewport clamp to keep behavior consistent across all overlays.

2026-02-17 00:50 +11:00

  • Task summary:
    • Fixed drawer header overlap where the close button could cover right-aligned panel header controls (e.g. Weld status badge).
  • Changes:
    • Updated web-ui/src/components/SidebarDrawer.tsx:
      • increased inner content right padding from pr-1 to pr-10 to reserve a dedicated close-button gutter.
  • Validation:
    • Frontend: npm run build passed.
    • Frontend: ReadLints on web-ui/src/components/SidebarDrawer.tsx reported no issues.
  • Follow-up notes / risks:
    • This keeps generic drawer content clear of the close control; if any panel needs full-width header actions later, consider converting the drawer to a shared explicit header row instead of overlay positioning.

2026-02-17 00:53 +11:00

  • Task summary:
    • Added explicit takeover TODO instructions for a new model to continue unresolved drawer/header overlap quality work.
  • Changes:
    • Updated QUICK_START.md:
      • added a top-level "TODO - New model takeover (high priority)" section,
      • documented current user-reported issue and required follow-up implementation expectations,
      • added concrete acceptance criteria and build-validation requirement.
  • Validation:
    • Documentation-only update; no code/runtime changes.
  • Follow-up notes / risks:
    • Next implementation should replace absolute-overlay close-control behavior with an explicit shared header layout to eliminate overlap risk by structure, not spacing.

2026-02-17 19:27 +11:00

  • Task summary:
    • Implemented the first takeover item from QUICK_START.md: fixed drawer header overlap with a structural shared header row.
    • Kept drawer content viewport-clamped with internal scrolling for long panel content.
  • Changes:
    • Updated web-ui/src/components/SidebarDrawer.tsx:
      • replaced absolute close-button overlay with a dedicated shared header row (headerContent + close action),
      • preserved viewport constraints and internal scroll behavior with explicit body max-height.
    • Updated web-ui/src/App.tsx:
      • added panel-aware activeDrawerHeader content (including weld title + Weld ON badge),
      • passed shared header content into SidebarDrawer,
      • removed duplicated panel title rows in STEP / Trajectory / Weld panel cards so the shared drawer header is the primary title surface.
    • Updated web-ui/src/TelemetryCharts.tsx:
      • removed duplicate top "Live Charts" title to align with shared drawer header.
  • Validation:
    • Frontend: npm run build passed.
    • Frontend: ReadLints on changed files reported no issues:
      • web-ui/src/components/SidebarDrawer.tsx
      • web-ui/src/App.tsx
      • web-ui/src/TelemetryCharts.tsx
  • Follow-up notes / risks:
    • Visual confirmation on real narrow viewport interaction is still recommended to confirm final spacing feel across all drawer panel variants.

2026-02-17 20:34 +11:00

  • Task summary:
    • Fixed left drawer vertical alignment so it no longer runs to the edge and now uses the same top/bottom inset style as the right robot-control panel.
    • Updated AGENTS.md (renamed from QUICK_START.md) with a complete installed-skills catalog and clear "when to use" guidance.
  • Changes:
    • Updated web-ui/src/components/SidebarDrawer.tsx:
      • switched drawer wrapper from top + viewport max-height sizing to inset-based sizing (inset-y-6) with a flex column layout,
      • made drawer body flex-1 + overflow-y-auto to preserve internal scrolling while maintaining bottom inset.
    • Updated AGENTS.md:
      • changed document heading/context to reflect rename from QUICK_START.md,
      • refreshed takeover TODO/acceptance criteria for the current vertical alignment issue,
      • added all available skills with path + relevance triggers,
      • added explicit design skill guidance (frontend-design, web-design-guidelines, canvas-design).
  • Validation:
    • Frontend: npm run build passed.
    • Frontend/docs lint check: ReadLints on web-ui/src/components/SidebarDrawer.tsx and AGENTS.md reported no issues.
  • Follow-up notes / risks:
    • Recommend one live visual pass at very short viewport heights to confirm the drawer body scroll ergonomics remain comfortable.

2026-02-17 20:41 +11:00

  • Task summary:
    • Styled the left drawer scrollbar so it matches the dark/cyan UI theme instead of using the default browser scrollbar.
  • Changes:
    • Updated web-ui/src/components/SidebarDrawer.tsx:
      • applied a dedicated gradient-scrollbar class to the drawer scroll container,
      • added slight right padding (pr-1) to keep custom scrollbar visuals from crowding content.
    • Updated web-ui/src/index.css:
      • added @layer utilities scrollbar styles for .gradient-scrollbar,
      • included both Firefox (scrollbar-width, scrollbar-color) and WebKit (::-webkit-scrollbar*) styling,
      • matched track/thumb colors to existing slate/cyan palette with hover state.
  • Validation:
    • Frontend: npm run build passed.
    • Frontend lint check: ReadLints on web-ui/src/components/SidebarDrawer.tsx and web-ui/src/index.css reported no issues.
  • Follow-up notes / risks:
    • If additional panel regions need the same styling, reuse gradient-scrollbar to keep scroll visuals consistent across the app.

2026-02-17 20:49 +11:00

  • Task summary:
    • Integrated the scrollbar into the drawer panel shell and enforced rounded bottom corners regardless of scroll position.
  • Changes:
    • Updated web-ui/src/components/SidebarDrawer.tsx:
      • merged header + body into one shared clipped shell (overflow-hidden, rounded-xl),
      • moved scroller inside the shell under a header divider (border-b),
      • kept custom scrollbar styling on the internal body scroller with content padding.
  • Validation:
    • Frontend: npm run build passed.
    • Frontend lint check: ReadLints on web-ui/src/components/SidebarDrawer.tsx reported no issues.
  • Follow-up notes / risks:
    • If panel body framing is later simplified (single-shell look), remove inner panel card borders to reduce nested framing.

2026-02-17 21:28 +11:00

  • Task summary:
    • Standardized weld-panel typography sizing so labels, meta text, and control text use a consistent scale.
  • Changes:
    • Updated web-ui/src/App.tsx (Weld panel):
      • introduced shared weld typography class constants (WELD_LABEL_CLASS, WELD_INPUT_CLASS, WELD_META_TEXT_CLASS, WELD_SECTION_TITLE_CLASS),
      • normalized base panel text to a consistent body size/line-height,
      • aligned metadata/caption sizes across selected edges, section info, and saved-program rows,
      • aligned button/input/select text sizing for visual consistency.
  • Validation:
    • Frontend: npm run build passed.
    • Frontend lint check: ReadLints on web-ui/src/App.tsx reported no issues.
  • Follow-up notes / risks:
    • If this typography scale should also be mirrored in STEP/Trajectory panels, extract these tokens into a shared drawer-typography utility in a follow-up pass.

2026-02-17 21:31 +11:00

  • Task summary:
    • Corrected Weld panel text hierarchy so section headers and field labels no longer share the same perceived boldness.
  • Changes:
    • Updated web-ui/src/App.tsx:
      • changed WELD_LABEL_CLASS from medium to normal weight,
      • increased section-title contrast and size via WELD_SECTION_TITLE_CLASS (text-[14px], stronger color),
      • preserved existing spacing and control behavior.
  • Validation:
    • Frontend: npm run build passed.
    • Frontend lint check: ReadLints on web-ui/src/App.tsx reported no issues.
  • Follow-up notes / risks:
    • If needed, next pass can align STEP/Trajectory section heading hierarchy to exactly the same pattern.

2026-02-17 21:34 +11:00

  • Task summary:
    • Applied the same typography hierarchy strategy to STEP and Trajectory panels and added a living UI consistency doc.
    • Added references so future sessions treat the design doc as a first-class source of truth.
  • Changes:
    • Updated web-ui/src/App.tsx:
      • introduced shared drawer typography tokens (DRAWER_*) and mapped Weld tokens to them,
      • normalized STEP panel button/label/input/meta text sizes to the shared scale,
      • normalized Trajectory panel body/meta/section heading/input/action text to the shared scale.
    • Added web-ui/design.md:
      • documented design direction, typography hierarchy, shared tokens, layout rules, and a consistency checklist.
    • Updated AGENTS.md:
      • referenced web-ui/design.md in workflow pointers and design guidance.
  • Validation:
    • Frontend: npm run build passed.
    • Frontend/docs lint check: ReadLints on web-ui/src/App.tsx, AGENTS.md, and web-ui/design.md reported no issues.
  • Follow-up notes / risks:
    • Some legacy controls outside the drawer panels may still use older text sizing and can be normalized in a dedicated global pass.

2026-02-17 21:43 +11:00

  • Task summary:
    • Reinforced mandatory memory-loop workflow language in AGENTS.md so DEVLOG.md and AGENT_SCRATCHPAD.md can never be skipped.
  • Changes:
    • Updated AGENTS.md:
      • strengthened bullets for DEVLOG.md and AGENT_SCRATCHPAD.md with explicit MUST wording,
      • added a "Non-negotiable workflow rule" block that marks missing either update as a blocker/incomplete task.
  • Validation:
    • Docs lint check: ReadLints on AGENTS.md reported no issues.
  • Follow-up notes / risks:
    • Continue enforcing this by always appending both files in the same turn as meaningful changes.

2026-02-17 21:46 +11:00

  • Task summary:
    • Removed unnecessary inner panel shell layer inside the drawer to eliminate the double-frame look and give content more horizontal room.
  • Changes:
    • Updated web-ui/src/App.tsx:
      • removed outer card-shell classes from drawer panel roots (Telemetry panel, STEP panel, Trajectory panel, Weld panel),
      • kept section-level cards intact for internal grouping while using full drawer width.
    • Updated web-ui/src/TelemetryCharts.tsx:
      • removed nested full-card shell style and kept a lightweight inner wrapper.
    • Updated web-ui/design.md:
      • added explicit rule to avoid nested outer shells inside drawer content.
  • Validation:
    • Frontend: npm run build passed.
    • Frontend/docs lint check: ReadLints on web-ui/src/App.tsx and web-ui/src/TelemetryCharts.tsx reported no issues.
  • Follow-up notes / risks:
    • If any panel now feels too open visually, adjust section card spacing before reintroducing any full nested frame.

2026-02-17 21:50 +11:00

  • Task summary:
    • Updated drawer behavior so panel height follows content by default, while still capping at viewport max-height for tall panels.
    • Made Telemetry/Charts drawer wider to avoid horizontal scrolling.
  • Changes:
    • Updated web-ui/src/components/SidebarDrawer.tsx:
      • changed layout from forced full-height (inset-y) to top-anchored adaptive height with max-h,
      • kept internal vertical scrolling and added overflow-x-hidden to prevent sideways scroll bars.
      • added widthClassName prop to support panel-specific width variants.
    • Updated web-ui/src/App.tsx:
      • added activeDrawerWidthClass so telemetry drawer uses wider width (w-[30rem]) and other panels keep standard width.
      • passed width class into SidebarDrawer.
    • Updated web-ui/design.md:
      • documented adaptive height behavior and telemetry wider-width rule.
  • Validation:
    • Frontend: npm run build passed.
    • Frontend/docs lint check: ReadLints on web-ui/src/components/SidebarDrawer.tsx, web-ui/src/App.tsx, and web-ui/design.md reported no issues.
  • Follow-up notes / risks:
    • If telemetry data density increases further, consider a responsive width tier for very wide screens while preserving mobile max-width constraints.

2026-02-17 22:10 +11:00

  • Task summary:
    • Fixed Weld drawer clipping/misalignment by anchoring it to the same top-6/bottom-6 overlay band used by adjacent floating UI.
    • Fixed angle-help tooltip clipping by moving it to a fixed portal overlay outside the drawer scroll container.
    • Codified panel sizing/scroll and tooltip overlay rules in web-ui/design.md.
    • Recorded durable regression-prevention notes in AGENT_SCRATCHPAD.md.
  • Changes:
    • Updated web-ui/src/components/SidebarDrawer.tsx:
      • switched drawer wrapper to explicit top-6 bottom-6 anchoring,
      • set inner shell to h-full with internal scroll region.
    • Updated web-ui/src/App.tsx:
      • rendered Weld angle tooltip via createPortal(document.body),
      • added viewport-clamped fixed positioning (right-side default with left fallback) and outside-click/Escape close handling.
    • Updated web-ui/design.md:
      • replaced adaptive-height guidance with explicit anchored overlay guidance for drawer baselines,
      • added tooltip/popover portal rules to prevent clipping regressions.
    • Updated AGENT_SCRATCHPAD.md:
      • logged mistake/fix/guardrails for panel baseline and tooltip clipping regressions.
  • Validation:
    • Frontend: npm run -s build passed.
    • Frontend/docs lint check: ReadLints on web-ui/src/App.tsx, web-ui/src/components/SidebarDrawer.tsx, web-ui/design.md, AGENT_SCRATCHPAD.md, and DEVLOG.md reported no issues.
  • Follow-up notes / risks:
    • If additional field-level help popovers are added, they should reuse the same portal + viewport-clamp pattern instead of inline absolute positioning inside panel content.

2026-02-17 22:24 +11:00

  • Task summary:
    • Corrected weld end-action semantics so return_to_start now returns to trajectory start/home-start (planner start pose), not weld start.
    • Added a new weld end-action lift for a short vertical retract from weld end.
  • Changes:
    • Updated web-ui/src/App.tsx:
      • expanded weld post-action type union to include lift,
      • updated End Action select with Lift option and clearer label text (Return to trajectory start),
      • normalized load/save parsing to preserve lift,
      • removed frontend-generated post-action return segment from weld section builder (backend now owns end-action routing).
    • Updated src/gradient_os/api/main.py:
      • normalized post_action parsing to allow none / lift / return_to_start for both weld-program save and /trajectory/plan-weld options payload.
    • Updated src/gradient_os/arm_controller/command_api.py:
      • captured trajectory start pose at planning start,
      • added backend post-action planning:
        • return_to_start: end -> lifted transit -> trajectory start,
        • lift: end -> vertical retract by transition clearance.
  • Validation:
    • Frontend: npm run -s build passed.
    • Backend syntax: .venv\\Scripts\\python.exe -m py_compile src\\gradient_os\\api\\main.py src\\gradient_os\\arm_controller\\command_api.py passed.
    • Lint check: ReadLints on web-ui/src/App.tsx, src/gradient_os/api/main.py, and src/gradient_os/arm_controller/command_api.py reported no issues.
  • Follow-up notes / risks:
    • Current return_to_start targets trajectory planning start pose; if product semantics later require a dedicated absolute home pose, add an explicit return_home action to avoid ambiguity.

2026-02-17 22:57 +11:00

  • Task summary:
    • Fixed stale weld preview/path visualization when loading saved weld programs (e.g., test_0) that have no saved planned_trajectory.
  • Changes:
    • Updated web-ui/src/App.tsx:
      • in pending weld-program restore branch, added explicit clear path when previewPlan is absent:
        • setPreviewPlan(null)
        • setPlannerPoints([])
      • after successful weld-program payload validation, clears preview/path immediately before async restore to avoid stale carry-over visuals.
  • Validation:
    • Frontend: npm run -s build passed.
    • Lint check: ReadLints on web-ui/src/App.tsx reported no issues.
  • Follow-up notes / risks:
    • If more scene overlays are derived from loaded program payloads in future, include explicit clear branches for null/absent data to prevent similar stale-UI regressions.

2026-02-17 23:29 +11:00

  • Task summary:
    • Fixed intermittent weld-run visualization flicker where the arm briefly snapped toward stale start-like poses during active motion.
  • Changes:
    • Updated web-ui/src/App.tsx:
      • added telemetry packet ordering filter using source timestamp field (t) to drop out-of-order samples,
      • added one-frame spike rejection for implausible joint jumps (>0.8 rad within <=0.25s),
      • added ref resets for telemetry filters on disconnect.
  • Validation:
    • Frontend: npm run -s build passed.
    • Lint check: ReadLints on web-ui/src/App.tsx reported no issues.
  • Follow-up notes / risks:
    • If future work intentionally combines multiple telemetry sources, introduce explicit source IDs and deterministic source selection to avoid timestamp-only arbitration edge cases.

2026-02-18 00:08 +11:00

  • Task summary:
    • Fixed loaded weld program run gating so Run Weld Preview is enabled based on runnable preview data, not weld-draft editor state.
    • Updated weld preview execution to always re-plan from current robot state at run time.
  • Changes:
    • Updated web-ui/src/App.tsx:
      • added canRunPreview prop to WeldPanel,
      • changed run button disable logic from !draft to !canRunPreview,
      • passed canRunPreview={Boolean(previewPlan?.name)} from parent,
      • changed /trajectory/run request for preview run to use_cache: false to ensure current-state re-plan and explicit approach to start.
  • Validation:
    • Frontend: npm run -s build passed.
    • Lint check: ReadLints on web-ui/src/App.tsx reported no issues.
  • Follow-up notes / risks:
    • Re-planning on every run is safer but may add slight latency; if needed, expose cache/replan mode explicitly in UI with clear semantics.

2026-02-18 00:18 +11:00

  • Task summary:
    • Fixed left drawer height regression so STEP / Trajectory / Live Charts no longer stretch to full-height empty space.
    • Kept Weld Planning in its current full-height behavior.
  • Changes:
    • Updated web-ui/src/components/SidebarDrawer.tsx:
      • added panel-aware heightMode prop (content | full),
      • kept shared overlay lane (top-6 bottom-6) but switched shell sizing:
        • full => h-full (for dense Weld panel),
        • content => max-h-full (for sparse panels),
      • moved pointer events to panel shell (pointer-events-none on wrapper, pointer-events-auto on shell) so transparent overlay space does not block scene interaction.
    • Updated web-ui/src/App.tsx:
      • derived activeDrawerHeightMode from active panel (weld => full, others => content),
      • passed heightMode into SidebarDrawer.
    • Updated web-ui/design.md:
      • documented mixed drawer height policy: content-fit for STEP/Trajectory/Telemetry, full-height for Weld.
  • Validation:
    • Frontend: npm run -s build passed.
    • Lint check: ReadLints on web-ui/src/components/SidebarDrawer.tsx, web-ui/src/App.tsx, and web-ui/design.md reported no issues.
  • Follow-up notes / risks:
    • Do one live pass at narrow and wide viewport sizes to confirm click-through behavior in empty drawer-lane space feels correct.

2026-02-18 01:13 +11:00

  • Task summary:
    • Installed all repo-local skills from .cursor/skills into Codex home skills.
    • Verified installed skills against the source skill set and AGENTS workflow expectations.
  • Changes:
    • Installed the following skills into C:\Users\angus\.codex\skills:
      • agent-browser
      • canvas-design
      • devlog-loop
      • find-skills
      • frontend-design
      • learning-scratchpad-loop
      • next-best-practices
      • next-cache-components
      • next-upgrade
      • vercel-composition-patterns
      • vercel-next-deploy
      • vercel-react-best-practices
      • vercel-react-native-skills
      • web-design-guidelines
    • Confirmed .cursor/skills-cursor does not exist in this repository snapshot.
  • Validation:
    • Compared source skill directories containing SKILL.md in .cursor/skills against C:\Users\angus\.codex\skills and found no missing installs.
    • Audit diff reported only expected extra preinstalled directory: .system.
  • Follow-up notes / risks:
    • Newly installed skills are loaded on Codex startup; restart is required to pick them up in fresh sessions.

2026-02-18 01:17 +11:00

  • Task summary:
    • Fixed weld preview execution mismatch where robot run could follow sparse endpoint moves instead of the full interpolated weld path.
    • Clarified UI wording so editable weld points are treated as control points, not every interpolated sample.
  • Changes:
    • Updated web-ui/src/App.tsx:
      • added weldPreviewCacheReady state to track whether a fresh weld preview cache exists for run,
      • updated weld preview planning (requestWeldPreview) to return planned preview data and mark cache readiness,
      • changed run behavior:
        • non-weld trajectories continue use_cache: false (re-plan from current state),
        • weld previews now execute with use_cache: true so runtime uses full high-fidelity planned steps instead of sparse move_absolute endpoints,
        • if weld cache is stale (e.g., restored program state), auto-refreshes weld preview before run and then executes cached plan,
      • reset weld cache readiness in clear/disconnect/load flows to avoid stale-cache execution.
      • renamed weld waypoint section title to Editable Control Points and added helper text about interpolation.
    • Updated web-ui/src/previewUtils.ts:
      • extended TrajectoryFile type with optional weld metadata,
      • enhanced program-root subtitle to show both move count and path sample count when available.
  • Validation:
    • Frontend: npm run -s build passed.
    • Lint check: ReadLints on web-ui/src/App.tsx and web-ui/src/previewUtils.ts reported no issues.
  • Follow-up notes / risks:
    • Program tree still lists coarse operation moves; it now also shows path sample count, but a future pass could add an explicit “interpolated path” node for deeper inspectability.

2026-02-18 01:28 +11:00

  • Task summary:
    • Removed weld preview path downsampling and switched Program Tree to exact path-sample inspection.
    • Kept coarse command metadata only as a secondary controller-command view.
  • Changes:
    • Updated src/gradient_os/arm_controller/command_api.py:
      • removed cartesian path downsampling (sample_stride) in planner payload assembly,
      • payload cartesian_path now includes every planned cartesian sample for exact UI inspection.
    • Updated web-ui/src/previewUtils.ts:
      • refactored buildProgramTree to build from exact plan.pathPoints:
        • grouped view now includes Exact Path Samples (full list, no trimming),
        • chronological view now centers on Execution Path (Exact) using full path samples,
        • control points and controller commands are still present as separate groups for editing/diagnostics.
      • kept weld feature grouping and root subtitle counters.
  • Validation:
    • Frontend: npm run -s build passed.
    • Backend syntax: .venv\\Scripts\\python.exe -m py_compile src\\gradient_os\\arm_controller\\command_api.py passed.
    • Lint check: ReadLints on web-ui/src/previewUtils.ts, web-ui/src/App.tsx, and src/gradient_os/arm_controller/command_api.py reported no issues.
  • Follow-up notes / risks:
    • Very long paths now produce large tree node counts; if UI responsiveness drops on extreme programs, add virtualized rendering rather than reintroducing path trimming.

2026-02-18 01:42 +11:00

  • Task summary:
    • Tightened Program Tree fidelity rules so it no longer uses approximate weld-segment path ranges.
    • Kept controller command rows strictly as reference metadata when exact path samples are available.
  • Changes:
    • Updated web-ui/src/previewUtils.ts:
      • removed estimatePathRange helper usage for weld segments to avoid proportional/approximate path highlighting,
      • weld feature nodes now focus only the selected edge (weldSegmentEdgeId) instead of inferred path range,
      • simplified command-group logic:
        • with exact path samples: show Controller Commands (Reference),
        • without exact path samples: show Controller Commands.
  • Validation:
    • Frontend: npm run -s build passed.
    • Lint check: ReadLints on web-ui/src/previewUtils.ts and web-ui/src/App.tsx reported no issues.
  • Follow-up notes / risks:
    • Tree now avoids misleading approximations; if users want per-segment exact ranges, backend should emit explicit section/sample index mapping in planner payload.

2026-02-18 01:53 +11:00

  • Task summary:
    • Removed waypoint-edit controls from the Weld drawer panel.
    • Moved waypoint editing workflow into Program Tree so control-point changes are driven from tree selection.
  • Changes:
    • Updated web-ui/src/App.tsx:
      • removed Editable Control Points section and related props from WeldPanel,
      • added Program Tree-driven waypoint state handlers:
        • point coordinate edits,
        • add/remove control point,
        • apply edits (routes to weld replan for weld programs, generic point replan for non-weld plans),
      • wired selected control_point_* Program Tree node to tree-side editor context.
    • Updated web-ui/src/components/ProgramFeatureTree.tsx:
      • added inline control-point editor panel (x/y/z fields),
      • added add/remove/apply controls for waypoint edits within Program Tree surface.
  • Validation:
    • Frontend: npm run -s build passed.
    • Lint check: ReadLints on web-ui/src/App.tsx, web-ui/src/components/ProgramFeatureTree.tsx, and web-ui/src/previewUtils.ts reported no issues.
  • Follow-up notes / risks:
    • Editing now requires selecting a Control Point node in Program Tree; if needed, we can add a subtle hint banner when no control point is selected.

2026-02-18 01:54 +11:00

  • Task summary:
    • Aligned Program Tree selection behavior with weld editing workflow after migrating controls to the tree.
  • Changes:
    • Updated web-ui/src/previewUtils.ts:
      • control-point/path/command nodes now target openPanel: "weld" when current plan carries weld metadata,
      • preserves openPanel: "trajectory" for non-weld plans.
  • Validation:
    • Frontend: npm run -s build passed.
    • Lint check: ReadLints on web-ui/src/previewUtils.ts, web-ui/src/App.tsx, and web-ui/src/components/ProgramFeatureTree.tsx reported no issues.
  • Follow-up notes / risks:
    • If users prefer tree selection to never change side panel at all, add a setting to disable panel auto-switch on tree node select.

2026-02-18 02:00 +11:00

  • Task summary:
    • Reduced yellow preview waypoint spheres to match requested small visual footprint (~1mm radius).
  • Changes:
    • Updated web-ui/src/ArmVisualizer.tsx:
      • changed preview marker geometry radius from 0.008 to 0.001 meters in the path/waypoint marker rendering block.
  • Validation:
    • Frontend: npm run -s build passed.
    • Lint check: ReadLints on web-ui/src/ArmVisualizer.tsx reported no issues.
  • Follow-up notes / risks:
    • At certain zoom levels 1mm markers may become hard to see; if needed, add a user-configurable marker size slider later.

2026-02-18 02:04 +11:00

  • Task summary:
    • Fixed weld return_to_start behavior to reliably use the robot’s current pre-weld pose for each run.
  • Changes:
    • Updated web-ui/src/App.tsx:
      • changed weld run flow in handleRunPreview to always refresh weld preview plan immediately before /trajectory/run,
      • keeps execution on cached high-fidelity steps (use_cache: true) after refresh, but with a run-current start context.
    • This ensures backend planner captures current start pose each run, so return_to_start no longer targets stale or weld-start positions from older plans.
  • Validation:
    • Frontend: npm run -s build passed.
    • Lint check: ReadLints on web-ui/src/App.tsx reported no issues.
  • Follow-up notes / risks:
    • Weld run now always incurs replan latency before execution; acceptable for correctness, but can be optimized later if needed.

2026-02-18 02:19 +11:00

  • Task summary:
    • Fixed a weld execution-state race that could cause jitter/contending motion loops during preview playback.
    • Added a hard jog shutdown before trajectory runs so realtime jog cannot interfere with weld path execution.
  • Changes:
    • Updated src/gradient_os/arm_controller/trajectory_execution.py:
      • added owns_trajectory_state guard to _open_loop_executor_thread and _closed_loop_executor_thread,
      • prevented nested per-step executor calls from clearing global trajectory state (is_running, thread) mid-run,
      • updated _execute_joint_path to run open-loop with owns_trajectory_state=False for sub-step execution.
    • Updated src/gradient_os/arm_controller/command_api.py:
      • in handle_run_trajectory, force-stop active jog mode before starting trajectory execution,
      • abort run if jog mode cannot be stopped cleanly.
  • Validation:
    • Backend syntax: & ".\.venv\Scripts\python.exe" -m py_compile "src/gradient_os/arm_controller/trajectory_execution.py" "src/gradient_os/arm_controller/command_api.py" passed.
    • Lint check: ReadLints on src/gradient_os/arm_controller/trajectory_execution.py and src/gradient_os/arm_controller/command_api.py reported no issues.
  • Follow-up notes / risks:
    • Requires runtime verification in run-sim + run-api with weld preview to confirm jitter and return behavior are fully resolved in motion playback.

2026-02-18 02:26 +11:00

  • Task summary:
    • Captured operator runtime validation after restart: weld path now executes correctly without prior jitter/snap behavior.
    • Confirmed likely primary fix was the execution-state lifecycle patch; jog-stop guard retained as safety hardening.
  • Changes:
    • No additional code changes in this step.
    • Updated engineering notes based on user validation feedback.
  • Validation:
    • User-reported live run outcome: "seems to be working now."
    • User confirmed issue had also reproduced previously with jog disabled, supporting execution-state race as root cause.
  • Follow-up notes / risks:
    • Keep jog-stop pre-run guard in place as defense-in-depth even if not primary root cause in this incident.

2026-02-18 11:47 +11:00

  • Task summary:
    • Added/updated repository-facing README documentation for merge to main.
    • Prepared a merge-ready commit message for the current branch changes.
  • Changes:
    • Added new root README.md with:
      • project overview,
      • quick start commands (including Windows .ps1 launchers),
      • current weld workflow behavior notes (exact path samples, return-to-start semantics, execution stability guards),
      • pointers to docs and web UI guidance.
    • Updated web-ui/README.md from legacy early-stage description to current production capabilities:
      • scene/telemetry, trajectory and weld planning, Program Tree exact-path behavior, and operational notes.
  • Validation:
    • Lint check: ReadLints on README.md and web-ui/README.md reported no issues.
  • Follow-up notes / risks:
    • If release process requires it, align any duplicated quick-start wording between README.md, AGENTS.md, and docs/README.md in a later docs-only cleanup.

2026-02-18 11:55 +11:00

  • Task summary:
    • Updated docs/README.md (the main repository README target used by this project) with a branch-highlights summary for STEP_LOADER.
    • Prepared a comprehensive merge commit message covering full branch scope.
  • Changes:
    • Updated docs/README.md:
      • added a STEP_LOADER Branch Highlights section,
      • documented CAD topology + weld pipeline additions,
      • documented trajectory execution correctness fixes (including execution-state lifecycle guard behavior),
      • documented Web UI upgrades (STEP/weld/program tree/exact path visibility),
      • documented platform/dev workflow updates (Windows launchers, API tests).
  • Validation:
    • Lint check: ReadLints on docs/README.md reported no issues.
    • Verified branch scope context using:
      • git log --oneline master..HEAD
      • git diff --stat master..HEAD
  • Follow-up notes / risks:
    • Docs now include both long-form architecture and branch summary; if desired later, split release notes into a dedicated changelog section.

2026-02-18 11:59 +11:00

  • Task summary:
    • Reworked docs/README.md into a clean newcomer onboarding document focused on features, architecture, and practical usage.
    • Removed release-note style framing and replaced with user/operator starting guidance.
  • Changes:
    • Rewrote docs/README.md:
      • clear "what GradientOS provides" section,
      • runtime architecture and data-flow summary,
      • Linux/macOS and Windows quick-start/run instructions,
      • first-run operator workflow for Web UI,
      • motion/weld behavior notes,
      • project layout + documentation map + troubleshooting.
  • Validation:
    • Lint check: ReadLints on docs/README.md reported no issues.
  • Follow-up notes / risks:
    • If needed, older deep-dive narrative content can be moved into dedicated per-subsystem docs to keep this entrypoint concise.

2026-02-18 12:28 +11:00

  • Task summary:
    • Fixed broken diagram rendering in docs/README.md.
  • Changes:
    • Rewrote all Mermaid blocks to strict minimal syntax:
      • switched flow diagrams to flowchart TD,
      • removed HTML tags and complex labels in nodes/notes,
      • simplified sequence diagram participant labels and event text.
  • Validation:
    • Lint check: ReadLints on docs/README.md reported no issues.
  • Follow-up notes / risks:
    • None.