> ## Documentation Index
> Fetch the complete documentation index at: https://docs.almond.bot/llms.txt
> Use this file to discover all available pages before exploring further.

# tune.factory

> Factory calibration: friction + gravity for all 14 joints in one run, uploaded to the cloud by hub adapter serial.

Full-robot factory calibration: identifies friction ([`tune.friction`](/cli/tune-friction)) and gravity CoM ([`tune.gravity`](/cli/tune-gravity)) for **all 14 joints** (both arms × 7) in one command. Also available from the diagnostics dashboard's Tuning workbench (`axol serve`).

One bidirectional multi-velocity sweep per joint yields both fits — the half-difference of forward/backward torque gives the friction model (`Fc`, `k`, `Fv`), the average gives the gravity curve the CoM is fit to, with the friction offset `Fo` refit against the corrected model. Each arm runs **distal → proximal** (`wrist_3` → … → `shoulder_1`) and every joint's fit is saved before the next joint sweeps, so proximal sweeps see already-corrected distal links — the ordering `tune.gravity` asks the operator to keep by hand happens automatically here. Sweep safety and the gravity-load poses (base-collision caps, elbow raised for `wrist_2`, camera clearance, and axis-vertical joints posed so gravity actually loads them — see [`tune.gravity`](/cli/tune-gravity)) match the individual tools.

Results are saved to `~/.almond/calibration.json` (this machine uses them immediately) **and** uploaded to Supabase Storage keyed by the robot's identity — the Axol hub adapter's USB serial, which travels with the arms across compute-host swaps. The documents live in a **public** bucket (`axol-calibrations/<hub_serial>.json`), so fetching them needs no credentials at all — only uploading does.

The upload only happens when the write key is configured; without it the run calibrates locally and says so:

```bash theme={null}
# .env (or .env.local / real environment) on the factory machine
AXOL_SUPABASE_KEY=<service key with storage write access>
AXOL_SUPABASE_URL=https://<project>.supabase.co   # only if not baked into calibration_cloud.py
```

One-time Supabase setup: create a Storage bucket named `axol-calibrations` and mark it **public**. No table or RLS policies are needed — write access comes from the service key.

The upload merges over what the cloud already stores, so a one-arm re-run never wipes the other arm's data. An interrupted run keeps (and uploads) every joint that completed.

| Flag                                             | Description                                                                                                         |
| ------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------- |
| `--arms {both,left,right}`                       | Which arm(s) to calibrate (default: both)                                                                           |
| `--left-channel IFACE` / `--right-channel IFACE` | CAN interface overrides (default: the Axol hub's persistent names)                                                  |
| `--velocities DEG_S …`                           | Friction velocity sweep in deg/s (default: `7.2 18 36 54 72`). Fewer velocities = quicker run, coarser friction fit |
| `--hub-serial SERIAL`                            | Robot identity for the upload (default: the attached hub adapter's USB serial)                                      |

```bash theme={null}
axol tune.factory                     # both arms, upload if credentials exist
axol tune.factory --arms left
axol tune.factory --velocities 18 36  # quicker sweep
```

## calibration.pull

Fetches a robot's factory calibration from the public bucket into the local cache (`~/.almond/factory_calibration.json`) — **no credentials needed**. It also runs automatically at the end of [`can.setup`](/cli/can-setup), so a fresh machine picks up its robot's calibration during first-time setup without any extra step. Run it manually to refresh:

```bash theme={null}
axol calibration.pull                 # identity from the attached hub adapter
axol calibration.pull --hub-serial 004800345542501420373234
```

Every `AxolConfig` then overlays the fetched values **between** the coded defaults and the local calibration file:

```
coded config  ←  factory calibration (cloud cache)  ←  ~/.almond/calibration.json
```

so anything tuned locally afterwards (`tune.friction --save`, `tune.pid --save`, `tune.gravity --save`) still wins over the factory values, and the coded defaults remain the fallback for joints neither layer covers.