PUDA Machines

Goal

Provide machine-selection and capability guidance for PUDA workflows, then load the correct machine reference before generating commands.

Critical Rule

If you are unsure which machine should be used for a command, ask the user before proceeding.
Do not assume.

Environment-Scoped Vision Gate

Before a physical NTU workflow whose correctness or safety depends on visible setup, load puda-machine-vision-validation from PUDAP/puda-vision-validation (install with puda skills install pudap/puda-vision-validation if unavailable). Confirm puda env current is ntu, use the current NTU machine reference and camera/pose, and capture fresh evidence without movement when possible. Never reuse BEARS or IMRE camera calibration, workspace polygons, coordinates, or prior confirmations.

Machine Capabilities and When to Use

First Machine (machine_id: "first")