Dry-run snap carries the pending blend chain - #36
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_snap_to_angles (teleport, un-referenced home, home(calibrate=True)) flushed the planner's blend buffer and discarded what it produced, so a blended move issued right before the snap vanished from the preview along with any collision refusal it would have raised live. The flushed results now lead the merged result, as par6's dry-run client already does. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_0158QrPR5eVhd31AvFpxJKr6
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_snap_to_angles— the dry-run path behind teleport, un-referenced home, andhome(calibrate=True)— flushed the planner's blend buffer and then discarded what the flush produced. A blended move issued right before one of those commands vanished from the preview, along with any collision refusal it would have raised on the live controller, and the preview's next move started from the snap pose as if the blended move never happened.The flushed results now lead the merged result (the same shape par6's dry-run
home()already returns), so consumers get the chain in script order without having to callflush()themselves first.Regression test fails on the old code (snap returned a single zero-duration pose) and passes with the fix; all dry-run unit tests pass.
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https://claude.ai/code/session_0158QrPR5eVhd31AvFpxJKr6