Repeatability test for the left arm: moves rest → pose A once, then bounces between two hard-coded poses (A → B → A → B …) for the requested number of cycles, returning to rest at the end (or on Ctrl-C). Each leg is planned in joint space with pyroki + the URDF so the arm can’t clip the torso, and the playback is a pure joint-space interpolation — no per-waypoint IK — so it’s smooth and perfectly repeatable. The gripper is held closed throughout, the right arm is left untouched (its CAN channel is disabled entirely).
Poses A and B are hand-posed and live at the top of almond_axol/cli/tune/repeatability.py — _POSE_A_LEFT / _POSE_B_LEFT, in raw motor-frame angles. To re-calibrate: pose the arm by hand, run axol motor.info --l, and paste the printed numbers in.
