The SO follower/leader calibration hardcoded drive_mode=0 for all motors.
When the gripper motor is mounted mirrored relative to the other arm's
(raw position increases when closing instead of decreasing), the
0=closed/100=open normalization convention flips: a 'closed' (0%)
command from the leader unnormalizes to the follower's fully-open hard
stop, slamming the gripper open and triggering the Feetech overload
protection (torque off until power cycle).
FeetechMotorsBus already supports per-motor inversion via drive_mode
(apply_drive_mode=True); calibration just never set it. This adds a
step after range recording that asks the user to fully close the
gripper, reads the raw position, and sets drive_mode=1 when the closed
position sits at range_max. No calibration file format change.
Verified against the exact calibration values reported in #3942 using
the real FeetechMotorsBus normalization: with drive_mode=0 a 0% goal
maps to raw 2035 (open, bug reproduced); with drive_mode=1 it maps to
raw 3528 (closed, expected).
Fixes#3942
* fix(robots): retry SO follower/leader bus reads on transient Feetech errors
SO-100/SO-101 teleoperation aborts when a sync_read of Present_Position
returns a corrupted status packet ("Incorrect status packet!"), which the
Feetech bus emits intermittently under load. The read path already supports
a num_retry argument but the SO follower and leader never used it, so a single
transient failure crashed the control loop.
Add a max_read_retry config option (default 3) to SOFollowerConfig and
SOLeaderConfig and forward it to every Present_Position sync_read. Retries are
immediate and only happen on failure, so the steady-state read cost is
unchanged; set max_read_retry=0 to restore the previous behavior.
Fixes#3131
* chore(robots): change defaults
---------
Co-authored-by: isaka1022 <isaka1022@gmail.com>
* Make SO follower P coefficient configurable
* chore(test): minimize tests
* feat(robots): expose PID coeff in SO arms
---------
Co-authored-by: taivu1998 <46636857+taivu1998@users.noreply.github.com>
* feat(robots): consolidates bi SO setups
* fix(robots): solve circular dependecy
* fix(robots): teleop & record working
* feat(robots): only one SO
* fix(utils): rename bi so
* fix(scripts): bi so import
* fix(rl): remove imports
Steven Palma