Action completion

Tag an absolute move with an action_id and the daemon reports its lifecycle back — so a script can await what actually happened instead of guessing from telemetry.

The lifecycle: accepted → active → done | clamped | blocked | timeout.

const id = teleop.nextActionId();
teleop.sendAction({ "right_arm_shoulder_pan.pos": 30 }, id);   // tag the frame(s)
const status = await teleop.awaitAction(id, { timeoutMs: 5000 });
// status.state: "done" | "clamped" | "blocked" | "timeout" (+ status.reason for blocked/timeout)

The surface

Call	What it does
nextActionId()	Mint an id.
sendAction(targets, id)	Send an absolute move, tagged.
awaitAction(id, opts)	Resolve when the daemon reports a terminal state.
actionStatus(id)	The latest status seen, in any state. The executor uses it to detect whether the daemon is participating at all.
onActionStatus	Streams every transition — useful for logging.

awaitAction self-resolves to a synthetic timeout if the daemon predates this feature, so it never hangs.

Reading the terminal states

• done — it got there.
• clamped — it moved, but to the boundary of descriptor.ranges, not where you asked. Out-of-range targets are clamped, never rejected. This is the status that tells you.
• blocked — something stopped it. Check reason (e.g. "stall:right_arm_elbow_flex").
• timeout — no terminal report arrived in time.

nori.moveTo(...) in the executor uses all of this internally and returns the daemon's verdict.

Not yet reported by the robot

Robot-side action_status is not live on hardware yet. Until it is, moveTo falls back to its client-side heuristic — it works, but the completion verdict is inferred rather than reported by the robot.