No custom ReadableStream class with hidden internal state. A readable stream is just an AsyncIterable. You consume it with for await...of. No readers to acquire, no locks to manage.
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And, if a robot arm were to swing out towards you, for safety reasons you would want to be able to immediately stop it and push it back without harming yourself, reverse that motion instantly. For one thing, that requires a back-driveable actuator.
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