refactor(ets): extract ET/ETS into own package, add rigorous dh/mdh split() - #553

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petercorke merged 10 commits into

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feat/ets-split-method

Jul 17, 2026

Commits on Jul 14, 2026

refactor(et): split compiled acceleration out of BaseET into ET; fix merge()/split() bugs

petercorke
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claude
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fix(ik): pin seed and tighten tol in flaky ikine tests, document quadratic tol

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claude
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Commits on Jul 15, 2026

feat(et): rename axis -> kind, add ax for the x/y/z-only concept

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feat(et): rename eta -> param, keep eta as a deprecated alias

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feat(et): accept a string joint descriptor in param (jindex/flip parsing)

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docs(tech-debt): record deferred IKProtocol idea, ahead of the /ets split

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refactor: move ET/ETS out of robot/ into new ets/ package (Phase 1: no split yet)

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refactor: split ET.py into ET.py/ET2.py/_ET.py, add Rx/tx/etc free functions

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claude
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refactor: split ETS.py into ETS.py/ETS2.py/_ETS.py

petercorke
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claude
committed

Commits on Jul 17, 2026

feat(ets): rigorous dh/mdh split() convention, sum() support, terser tests

petercorke
and
claude
committed