tune.repeatability

Tests the repeatability of the left arm. The arm moves from rest to pose A, then moves between two fixed poses (A, B, A, B and so on) for the number of cycles you ask for. At the end, or when you press Ctrl-C, it returns to rest.

Each move is planned in joint space so the arm can’t hit the torso, and it plays back the same way every cycle.
The gripper stays closed throughout.
The right arm isn’t used, and its CAN bus stays off.

Flag	Description
`--cycles INT`	Number of A-to-B-to-A round trips (default: 0, run until Ctrl-C)
`--gripper-torque-limit FLOAT`	Gripper closing torque limit in Nm (default: 0.3)
`--no-gripper`	Run on an Axol without grippers. The gripper motor is never enabled, and `--gripper-torque-limit` is ignored.
`--dwell FLOAT`	Seconds to hold at each waypoint except B (default: 0.5)
`--dwell-b FLOAT`	Seconds to hold at pose B before returning to A (default: 3.0)
`--rate FLOAT`	Control and waypoint rate in Hz. Higher gives finer steps and smoother motion at the same speed (default: 250).
`--speed FLOAT`	Average speed of the fastest joint in rad/s. The peak is 1.5 times this (default: about 0.31).
`--stiffness FLOAT`	Arm stiffness, 0 to 1. Lower softens the arm and reduces tracking jitter (default: 1.0, the standard gains).
`--log-level {DEBUG,INFO,WARNING,ERROR}`	Default: `INFO`

axol tune.repeatability               # bounce A↔B forever
axol tune.repeatability --cycles 5    # five A→B→A round trips, then rest

Poses A and B are set in almond_axol/cli/tune/repeatability.py as _POSE_A_LEFT and _POSE_B_LEFT, in raw motor angles. To change them, pose the arm by hand, run axol motor.info --l, and paste the printed angles into the file.

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tune.repeatability