Replace PreciseFlexJointCoords with PFAxis IntEnum + dict#901
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rickwierenga merged 6 commits intomainfrom Feb 19, 2026
Merged
Replace PreciseFlexJointCoords with PFAxis IntEnum + dict#901rickwierenga merged 6 commits intomainfrom
rickwierenga merged 6 commits intomainfrom
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Use Dict[int, float] keyed by PFAxis(IntEnum) for joint positions instead of a dataclass, mirroring the KX2 pattern. move_to now accepts partial dicts and fills in unspecified axes from current position. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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this is to unify it with the kx2 #880 dicts are nicer because you can specify individual joints rather than having to specify them all at once. |
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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Summary
PreciseFlexJointCoordsdataclass withPFAxis(IntEnum)+Dict[int, float], mirroring the KX2 patternmove_tonow accepts partial dicts — unspecified axes are filled from current position (e.g.await arm.move_to({PFAxis.RAIL: 300}))JointCoordstype alias fromstandard.pyTest plan
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