Declare the MSG gripper's built-in camera mount - #28
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The MSG carries an integrated camera mount, so its ToolConfig now ships a default CameraSpec. The video device stays per-machine: the spec's no-camera sentinel is resolved through the tool's runtime camera override, and frontends can use the declaration to surface the mount (e.g. hand-eye calibration guidance). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_015HkPS4EgPZg7tvgCxBYqTT
The settle phase completed a segment after a fixed 20-tick cap even with the firmware still closing on the target, and the mock transport freezes all residual motion once the command stream goes idle — on a starved host the simulated plant falls behind the waypoint stream, the cap fires, and the robot is reported complete while stranded short of the target (waldo-commander's hand-eye CI observed home "complete" with J1 29 deg from standby). Settling now resets the tick counter whenever the position error shrinks, so the cap only fires after 20 ticks without progress — preserving the anti-hang escape for real hardware's steady-state residual — and an unconverged completion logs the residual instead of passing silently. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01EdLG1uiKKZJ6aAeiojeRwd
scipy-stubs 1.18 types bc_type derivative values as array-likes only, while scipy requires scalars for 1-D y. ty narrows a bare-declared Any on assignment, so the tuple branch failed overload resolution; an annotated assignment keeps bc at its declared Any. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01LkVPPMQg33tFuGCVLkyrJQ
ty 0.0.69 resolves ndarray.tolist() without the ty-specific suppression and infers the frame memoryview union directly; it now warns on both leftovers, and warnings fail the lint hook. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01LkVPPMQg33tFuGCVLkyrJQ
Unpinned stub releases have broken the ty lint hook twice; ty itself stays unpinned deliberately while it is still in beta. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01LkVPPMQg33tFuGCVLkyrJQ
scipy-stubs 1.18.x requires Python >=3.12, so a single exact pin is uninstallable on the 3.11 CI jobs; 3.11 pins the last 1.17 release. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01LkVPPMQg33tFuGCVLkyrJQ
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The MSG gripper carries an integrated camera mount, so its
ToolConfignow ships a defaultCameraSpec. The video device stays per-machine: the spec's no-camera sentinel is resolved through the tool's runtime camera override, and frontends can use the declaration to surface the mount — e.g. the hand-eye calibration panel in Waldo-Commander (Jepson2k/Waldo-Commander#29), which this change supports.🤖 Generated with Claude Code
https://claude.ai/code/session_01EdLG1uiKKZJ6aAeiojeRwd