Expose gripper skills and preserve commands after streaming - #42
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Expose gripper skills and preserve commands after streaming#42Jepson2k wants to merge 4 commits into
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This was referenced Sep 7, 2026
Jepson2k
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A client streaming faster than one tick's 25-message batch leaves the rest in the socket, and that backlog is stale by definition: replaying 25 of it per tick makes the arm follow superseded targets for as many ticks as the backlog is deep, and a stop queued behind them waits just as long. When the batch fills, the rest of the buffer is now read in the same tick, bounded and logged at the cap. This restores the bound the removed blind socket drain used to provide without its cost: configuration, queries and stops mixed into the backlog are still processed, in order, because each streaming command supersedes its predecessor through the executor rather than by discarding datagrams nobody decoded. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
…hon-skill-library
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Reusable skills can now discover PAROL6 gripper support on both the live client and native preview. The preview tool exposes its selected key and type as metadata, so a gripper requirement cannot accidentally dispatch a metadata access as a command.
Streaming updates also preserve unread configuration, query and stop packets. Decoded motion still coalesces, but a teleport no longer discards a following profile selection when they cross a polling batch boundary.
Stacked on #41. Validation: the real-UDP regression failed before the fix; all 16 command-preservation and native profile checks passed afterward in 85.3 seconds. native Commander workflows exercise gripper opening/closing through fake serial and the real preview planner, including explicit selection before a subprocess skill call. Source type checks, lint and formatting passed.
Companion PRs: waldoctl #28, PAROL6 #42, PAR6 #68, Commander #51. These use the same feature branch for dependency matching in CI.