johnnynunez 7b78e751a6 fix(calibration): detect inverted gripper drive_mode on SO follower/leader calibration ...

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

2026-07-29 17:34:54 +02:00

..

test_reachy2.py

feat(robots): use read_latest() camera (#2987)

2026-02-18 20:05:15 +01:00

test_rebot_b601_follower.py

Feat(robot): add MIT control mode to ReBot (#3778)

2026-06-30 17:17:50 +02:00

test_so100_follower.py

fix(calibration): detect inverted gripper drive_mode on SO follower/leader calibration

2026-07-29 17:34:54 +02:00

test_unitree_g1.py

feat(robots): Unitree G1 WBC implementation (#2876)

2026-03-08 11:33:24 +01:00