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.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.
| Flag | Description |
|---|---|
--cycles INT | Number of touch-and-return cycles; 0 (default) = run until Ctrl-C |
--gripper-torque-limit FLOAT | Gripper closing torque limit in Nm (default: 0.3); kept low so the tips collide gently |
--dwell FLOAT | Seconds to hold each end of the cycle (default: 0.5) |
--rate FLOAT | Control loop rate in Hz (default: 100) |
--no-left / --no-right | Disable an arm (the disabled side stays at rest while the other still moves) |
--log-level {DEBUG,INFO,WARNING,ERROR} | Default: INFO |
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.