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Pack an arm's state once, for every arm that states the same things - #721

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DarksaCY wants to merge 3 commits into
Positronic-Robotics:mainfrom
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Pack an arm's state once, for every arm that states the same things#721
DarksaCY wants to merge 3 commits into
Positronic-Robotics:mainfrom
DarksaCY:packed-state

Leave the read-only count to the type checker

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