Add default action gap and discourage auto rest command

Co-authored-by: Rongzhong Li <rzlib2l@gmail.com>

Author: cursoragent

blocks/generators.js

@@ -1821,6 +1821,18 @@ await (async function() {
                         await waitForSerialTokenLine(token, timeout, __from);
                       }
                       if (typeof window !== 'undefined') window.__lastTokenReceivedAt = Date.now();
+                      // Default anti-sticking gap between consecutive motion commands: 0.01s
+                      const __postGapMs = (typeof window !== 'undefined' && typeof window.__actionCommandGapMs === 'number')
+                        ? Math.max(0, window.__actionCommandGapMs)
+                        : 10;
+                      if (__postGapMs > 0) {
+                        const __endAt = Date.now() + __postGapMs;
+                        while (Date.now() < __endAt) {
+                          checkStopExecution();
+                          const __wait = Math.min(10, __endAt - Date.now());
+                          if (__wait > 0) await new Promise(r => setTimeout(r, __wait));
+                        }
+                      }
                     }
                     // delayAfterToken: delay starting from when robot completed
                     async function __delayAfterToken(ms) {

main.html

@@ -4321,7 +4321,8 @@ <h3 style="color: #4CAF50;">${title}</h3>
 Gesture: encodeCommand("XGr",[])=enable,"XGp"=poll,"Xg"=exit
 
 PATTERN: await sendAndWait("khi",10000,'k'); await delayAfterToken(500); await sendAndWait("khsk",10000,'k');
-RULE: ALWAYS use built-in k* skill for named actions. NEVER compose joint movements for actions that have a skill command.`;
+RULE: ALWAYS use built-in k* skill for named actions. NEVER compose joint movements for actions that have a skill command.
+RULE: DO NOT insert rest command "d" between actions unless user explicitly asks for rest/sleep/lying down/final relax.`;
 
       const seed = Math.floor(Math.random() * 1000000);
       const userPrompt = `Generate JavaScript code for: "${description}"`;