Panels → main: plugin tools + planner/status fixes#20
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…honors rpy register_plugin_tools() runs at Controller init, motion_planner_main (spawn re-imports the registry), and Robot init (SelectToolCmd validates client-side before sending); _PLUGIN_KEYS keeps _build_tools native-only regardless of construction order. get_tool_transform's variant branch overrides origin/rpy field-independently to match the client path; _plugin_tool_transform uses waldoctl.resolve_variant_tcp and warns before identity on unknown keys. _ToolsCollection replaced by waldoctl.ToolsCollection. Cold-start home timeout 30s; variant-rpy unit regression. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Remove the three "wire round-trip" tests in test_tcp_offset.py that only construct SetTcpOffsetCmd/TcpOffsetResultStruct and assert the fields back — they restate the struct definitions, exercise no encode/decode, catch no bug. The planner-routing and apply_tool behavioral tests stay. Add the no-tautological-tests rule to CLAUDE.md Testing Guidelines. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Remove construct-echo/default tests in test_movecart_command.py (5), test_reset_command.py (2, dropping the now-empty TestResetCommandParsing), test_query_commands_actions.py (2), and the hardware-config assertions in test_gripper_ramp.py (2). The validation tests (bad-input raising), execute_step side-effect tests, pose-conversion tests, and tick-range derivation stay. Broaden the CLAUDE.md rule to name the categories. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Resolve the motion_planner_main conflict by keeping BOTH the plugin-tool registration (panels) and the avoid_core affinity drop (refactor's planner- startup fix). Brings refactor's tests.yml branch-match fix so CI installs the matching waldoctl@feat/panel-extensions-v2 (CameraSpec/ToolsCollection/ resolve_variant_tcp/iter_plugin_tool_specs) instead of the stale pinned tag, plus the JIT-warmup, ephemeral-port, and tautological-test cleanups. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
parol6: plugin tools in every process registry + variant TCP rpy (panel-extensions stack)
…cept - MotionPlanner.start() polls is_alive() and bails on a dead worker instead of blocking the full 30s, then 'continuing anyway' with a dead planner [S1-7] - _pin_to_core broadens its except to psutil.Error/OSError/ValueError so a benign affinity failure on a restricted host can't crash the controller [S1-8] Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
…e ToolStatus on tool switch - DryRunRobotClient registers plugin tools in its spawn-mode subprocess so a dry-run select_tool() of a plugin tool no longer crashes in apply_tool [S2-9] - update_from_state resets ToolStatus value fields before populate_status so a no-op populate (NONE/passive/plugin tools) doesn't broadcast the previous tool's engaged/part_detected/positions [S2-10] Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
NumPy 2.5.0 (released 2026-06) violates numba 0.6x's numpy<2.5 pin, breaking collection on Python 3.12+ (3.11 resolves an older numpy and passes). Bound numpy to what numba supports. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
Jepson2k
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Jun 24, 2026
The panels merge (#20) brought code importing CameraSpec/ToolsCollection, which the old v0.2.0 pin lacks — main CI has been red since. v0.4.0 has them. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
This was referenced Jun 24, 2026
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Brings the panel plugin-tool registry work into
main(it landed inrefactor/commander-public-apiafter the cpa→main merge #18), plus the kind-wilkinson fixes:motion_planner.start()fails fast on a dead worker instead of blocking ~30 s onready_event._pin_to_coreaffinity-pin except to(psutil.Error, OSError, ValueError, …).select_tool("plugin")no longer crashes the preview.ToolStatusfields beforepopulate_statusafter a tool switch._native_tools→native_toolsto follow the waldoctl ABC.Verified green: parol6 69 (planner/controller/dry-run/status/tool/registry).
refactor/commander-public-api → maintogether — thenative_toolsrename couples the waldoctl ABC and this impl.🤖 Generated with Claude Code