pylabrobot.brooks.precise_flex.PreciseFlexArm.move_to_joint_state#

async PreciseFlexArm.move_to_joint_state(joint_state: Dict[PreciseFlexAxis, float], speed_percent: float | None = None, *, close_gripper_without_force_sensing: bool = False) → None#

Move the arm to the specified joint state. A partial spec is merged over the live pose; the move is guarded against out-of-range axes (see _guarded_move).

Parameters:

  • joint_state (Dict[PreciseFlexAxis, float]) – Target joint state. Omitted axes keep their live values.

  • speed_percent (float | None) – Movement speed override as a percentage (0-100). If None, uses the current speed setting. It stays set afterwards; use at_speed to scope a speed to one move.

  • close_gripper_without_force_sensing (bool) – allow a gripper axis below the live one. A joint move senses no force; close the jaws with gripper.move_to_jaw_position.

Raises:

ValueError – If the move would close the jaws, unless asked.

Return type:

None