Collision surface: query ABC, CollisionStatus, Shape world + set_shapes#8
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Robot ABC gains has_collision_checking + in_collision / colliding_pairs / check_trajectory / min_distance as concrete disabled-defaults, so backends without a checker keep working and parol6's existing overrides satisfy them. RobotStatus gains a collision sub-object (active + pairs) carrying the colliding geometry/link pairs captured at the predicted colliding config, for the frontend to highlight. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
shapes.py: a typed dataclass-union (Box/Sphere/Cylinder/Capsule/Cone/Ellipsoid/ Plane) whose fields are the coal constructor params, mirroring coal's vocabulary. Wire/persist serialization is derived generically from dataclasses.fields (to_wire + shape_from_wire via a kind→class registry) — no per-shape code. SceneHandle gains a `shapes` list (commander.scene.shapes) — the collision world; RobotClient gains set_shapes() to push it to the backend. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
The status stream now carries the predicted-collision flag + pairs (parol6 provides them); declaring them on the StatusBuffer Protocol makes the frontend consumer type-check against the contract. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
…act; Robot.apply_shapes + PathSegment.collision_step - Docstrings: collision surfaces cover workspace shapes, not just self-collision; Shape.margin marked reserved (not yet applied); SceneHandle.shapes documents the reassign-don't-mutate contract. - Robot.apply_shapes: local-checker twin of client.set_shapes for host-side preview/editing collision queries (no-op default). - PathSegment.collision_step: first colliding waypoint from the host-side check. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Schema-skewed or corrupted persisted data previously zip-truncated into a smaller wrong shape with no error — the enforced volume silently differed from what was saved. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…, readback surface - ShapeBase.__post_init__ rejects NaN/inf/non-positive dims, bad pose/margin; Plane validates its normal; shape_from_wire inherits it as the decode gate - margin is a real per-shape clearance override (no reserved API) - RobotClient documents the command return-code convention ABC-wide; set_shapes is program-layer + acknowledged; new shapes() readback query returning ShapeWorld (installation/program layers) - StatusBuffer.scene_epoch; collision pairs speak URDF link names + shape:/install:/tool: vocabulary, never backend-internal identifiers - ShapeChange captures mid-script set_shapes for preview marking replay Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01M7tEqGhaTqJV6ZxCXgMpFU
…alidation Playback's step channel is no longer reserved surface — the host fires it whenever executing_step_* advance, so the docstring now states that contract. set_shapes documents that a world change invalidates in-flight and queued trajectory motion that now violates it (backend re-guards and halts with a collision error). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01M7tEqGhaTqJV6ZxCXgMpFU
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Adds the shared collision contract that parol6 implements and Waldo-Commander consumes:
RobotABC collision query surface +CollisionStatus(active/pairs on theStatusBuffercontract)Shapedataclass union (Box/Sphere/Cylinder/Plane) with construction validation, per-shapemargin, wire codec (shape_from_wirerejects wrong param counts), and pair-name vocabularycommander.scene.shapesreadback surface +client.set_shapeswith acked delivery; setting shapes invalidates in-flight and queued trajectory motion (documented contract)Robot.apply_shapes,PathSegment.collision_step, per-programPlaybackstep channelRelease intent: tag v0.5.0 after merge (breaking pre-1.0 minor: new ABC members).
🤖 Generated with Claude Code
https://claude.ai/code/session_01M7tEqGhaTqJV6ZxCXgMpFU