Detects parts in a bin, picks each one and places it on a conveyor, compensating a failed placement by returning the part. VisML 2026-08-04T09:00:00Z Apache-2.0 robotics edge compensation Collaborative arm on the cell controller. On-device model. Runs at the edge so the cell keeps working when the uplink does not. Runs once at start of shift. Everything downstream depends on it.

One iteration per detected grasp. Sequential by design — maxConcurrency stays 1 because there is exactly one arm. Physically closes the gripper. idempotent="false" — a runtime MUST NOT silently retry this, because a second attempt on an already-held part is a collision, not a retry.

THE COMPENSATION. If placement fails while the part is still in the gripper, the arm must put it back before the cell can continue. Reachable only along the compensation edge — never during forward flow. Grip verification failed, so nothing is held — safe to just open the gripper and let the NEXT LOOP ITERATION re-detect. Note what is deliberately absent: an edge back to scan_bin. That would express a loop-back, and HarnessXML has no cycles — repetition is a loop node, which carries a required bound. A dependency edge back to scan_bin looks reasonable and deadlocks, because scan_bin would then wait on a node that only runs after it. Error target for any motion failure. Deliberately reachable from several nodes: a robot cell needs one obvious place that everything broken leads to. Traversed backwards when place_part fails with the part held.