Preserve Household Orders mission progress on retries

[axelpey]

A repeated mission_run({}) discarded Household Orders progress: identity and search restarted and confirmed orders disappeared. The skill now resumes its active mission by default; new tasks explicitly use restart=true. Recovery repeats the existing idempotent initializers so interrupted startup cannot reuse previous-mission state. Run creation is serialized across processes and cancellation is checked before mutation.

Stacked above #772 (codex/agent-model-cadence). The first commit ports the existing #680/#694/#698 agent/skill stack onto that current-main foundation, preserving current Nav2 keepout diagnostics and approach hints. The second commit contains the new continuity fix. The third records the experiment evidence. Keep this PR draft pending Axel's approval.

Validation:

• Actual local ROS skill-server replay: baseline lost the exact saved order in 3/3 repetitions; candidate preserved it in 3/3. Explicit new tasks produced distinct runs.
• 265 focused tests passed, including interrupted startup, cross-process initialization, cancellation, identity/notes/coverage continuity, navigation seams, and foundation context/cadence. Ruff passed; all 20 ROS packages built.
• 12 bounded Astra/low decisions passed using a fixed simulator image and recorded real skill results; estimated total $0.2898, including cache writes. The final prompt's interrupted-startup next action was checked separately from the initial 11-call replay.

Full autonomous challenge completion and latency on this new stack remain unmeasured. The recovered historical 40/40 baseline is separate evidence, not a reproduced score of this port. Repeated explicit restart=true remains intentionally destructive. Nothing was deployed.

Experiment report, exact prompts, raw usage, and before/after receipts.