Feature/tactile sensing#69
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… moved constants into new constants file
…ass, removed hardware version methods
Introduce protocol.py as a pure-function codec for the sensor wire format (frame building, parsing, decoding). Tighten validation (header checks, meta size guards, strict KeyError on missing taxels), move wire-format constants to constants.py, and reduce protocol knowledge leaking into sensor_client.py.
Moves the web-based sensor visualization (Flask/SocketIO) out of orca_core per reviewer feedback on separation of concerns. The UI now lives in its own repo and depends on orca_core as an external package.
Add MockOrcaHandTouch class backed by mock motor and sensor clients for testing hand+sensor workflows without hardware. Extract _create_sensor_client factory method from OrcaHandTouch to mirror the existing _create_motor_client pattern. Update sensor client type annotations to use PEP 604 union syntax.
- Clarify get_tactile_forces/get_tactile_taxels docstrings to show string-keyed dict access pattern and list valid finger keys - Remove unused taxel_coordinates module: 3D coordinate data is only consumed by the visualization UI, which now lives in orca_ui. Taxel counts remain in constants.py where the mock client uses them.
Lets tests synchronize on auto-stream startup without polling, and configure per-finger taxel counts via the constructor instead of mutating private state.
Replace class-based tests with module-level functions, parametrize where it tightens coverage, and use wait_for_first_frame() instead of the polling helpers.
Mock now round-trips through the real codec so wire-format bugs surface in tests.
OrcaHandTouch.connect() now mirrors the motor cascade: configured port first, then USB-VID auto-detection, with a successful auto-detect persisted to config.yaml. Adds connect_sensors_only() for motor-less sensor testing and makes get_auto_stats() return a snapshot copy so callers can diff values across calls.
# Conflicts: # orca_core/constants.py # orca_core/hand_config.py # orca_core/hardware_hand.py
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merge tactile sensing into main