StartLux: Contact Finishing and Recovery Simulation

A seven-axis Panda arm with a compliant finishing pad works across four zones of a clamped metal part. Each zone requires two contact passes. The central decision is how to continue the process when contact load changes: select another pass, move to another zone or recover using a lighter-pressure pass. The video overlays rectangular candidate strips on the part and shows the selected action beside the robot. It proceeds through contact sweeps, displays a light-pressure recovery option for the affected zone, then continues to the remaining zones. The final screen reports four of four zones covered and the finishing head withdrawn. A highlighted strip is a selected action, not proof that processing has already finished. According to the supplied notes, StartLux receives structured tool position, contact force, compliant-slider compression, pass progress and zone coverage. The harness generates the candidate passes, performs local motion and contact control, and withdraws the tool when protection is triggered. Only after that feedback is available does the model select a recovery; the protective response is not presented as the model predicting the abnormal load. Coverage is checked from simulated contact, force, travel speed and accumulated contact exposure, rather than simply painting the selected strip as complete. The example illustrates a useful division of work: the model chooses a bounded process step or recovery, while the controller executes it and checks the resulting evidence. Evidence and limits: this is a user-supplied MuJoCo demonstration reviewed with its implementation notes. No simulation was rerun and no original API trace or real machining process was independently tested for this listing. Completion refers to a contact-coverage proxy; the simulation does not establish material removal, surface roughness or production yield. Displayed choice probabilities are not quality guarantees. The preserved video has Chinese interface text and no audio.