Support arm streaming pipeline tracing - #6275
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Each streaming session records a PipelineTrace: queue occupancy at every
enqueue/dequeue (jointPositionsCh, pvatsCh, the estimated arm-side
runway, and the cumulative PVATs delivered to the arm RPC), per-call
timings (trajex Extend, batch sends), lifecycle events, and per-joint
velocities/positions taken from the trajex output.
The snapshot is exposed via the stream_status DoCommand's "trace" field;
pass {"trace": false} for a cheap poll that skips it. stream_flush's
drain-started ack never includes it.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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