[operations] Robustify retraction detection check using tip velocity#117
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th-skam
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pr: enhancement
pr: status to review
epernod
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May 29, 2026
epernod
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pr: status ready
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This PR is about improving the retraction of the needle, during which coupling points have to be pruned ahead of the tip.
We do a simple geometric test and prune them in case they are ahead. The proper thing to do would be to also account for the velocity of the tip. If it's moving backwards, we prune, otherwise we still keep the coupling points.
On its own, this changes nothing. It only becomes relevant when a
contactDistanceparameter is introduced. WithcontactDistanceand without this change, the coupling point would instantly get pruned at the point of puncture.The check is incremental