Add EndPosition playback via a method config attribute - #1
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Nick Hehr (HipsterBrown) wants to merge 1 commit into
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Add EndPosition playback via a method config attribute#1Nick Hehr (HipsterBrown) wants to merge 1 commit into
Nick Hehr (HipsterBrown) wants to merge 1 commit into
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New optional `method` attribute selects which arm capture to replay: JointPositions (default, MoveToJointPositions) or EndPosition (MoveToPosition). Pose payloads are decoded with protojson. The player now drives frames through a move callback so it is agnostic to the arm call. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Gy9SjPAUdKsoA3VaMssg97
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Summary
methodconfig attribute:JointPositions(default) orEndPosition. Invalid values fail config validation.EndPositionsequences export theEndPositioncapture, decode theposepayload via protojson (acceptso_xandoX), and replay withMoveToPosition.JointPositions.Test plan
go vet . && go test .passTestConfigMethod,TestBuildSequenceEndPosition,TestRunPacesPoseFrames,TestPlayEndPositionUsesMoveToPositionEndPositionsequence and replay with"method": "EndPosition"; if the arm driver rejects the defaultarm_extrakeys onMoveToPosition, setarm_extrato{}🤖 Generated with Claude Code
https://claude.ai/code/session_01Gy9SjPAUdKsoA3VaMssg97