Expose gripper skills and preserve commands after streaming - #42
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Jepson2k wants to merge 2 commits into
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Expose gripper skills and preserve commands after streaming#42Jepson2k wants to merge 2 commits into
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This was referenced Sep 7, 2026
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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.