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Enables the motors, eases to home, then loops a full range-of-motion sweep of every joint for two hours. On a full-robot run it first prompts to clamp each gripper onto an item and holds it for the duration; when the soak finishes (or on Ctrl-C) the robot returns home with the item still gripped and the motors left enabled — run diag.rom-disable afterwards to release it and power down. Joint positions and torques are captured to a CSV under ~/.almond/diagnostics/captures at 5 Hz so the run can be charted in the diagnostics dashboard’s run history. With --target mantis, the same soak machinery exercises only the two grippers at ID 8 on can_mantis_l / can_mantis_r; arm-joint and grasp-hold steps do not apply.
--left-channel / --right-channel override the SocketCAN interface used for each side. Defaults are the Axol pair for --target axol and the Mantis pair for --target mantis. With a single-channel adapter, combine a channel override with --no-left / --no-right. By default each hands-on gripper step is an interactive input() prompt on the terminal. --web-prompts instead emits a [prompt] … marker and blocks on stdin, so the web dashboard can turn the step into a Continue button (it’s set automatically when launched from the dashboard).