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Drives both arms between the rest pose and a hard-coded crossed-arms tips-touching pose, planning each leg with pyroki + the URDF so the arms can’t clip the torso during the long arc. The gripper is held closed throughout and the arms run at maximum stiffness (the pre-tuning industrial gains) — repeatability is meaningless under the compliant teleop gains. Useful for measuring how reliably the grippers return to the same physical contact point after many motions.
FlagDescription
--cycles INTNumber of touch-and-return cycles; 0 (default) = run until Ctrl-C
--gripper-torque-limit FLOATGripper closing torque limit in Nm (default: 0.3); kept low so the tips collide gently
--dwell FLOATSeconds to hold each end of the cycle (default: 0.5)
--rate FLOATControl loop rate in Hz (default: 100)
--no-left / --no-rightDisable an arm (the disabled side stays at rest while the other still moves)
--log-level {DEBUG,INFO,WARNING,ERROR}Default: INFO
axol tune.repeatability               # forever
axol tune.repeatability --cycles 5    # five touch-and-return cycles
The touching pose is hand-posed and lives at the top of almond_axol/cli/tune/repeatability.py — edit _TOUCH_LEFT / _TOUCH_RIGHT in place to re-calibrate the contact point.