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feat(lumi-final): update calibration and recordings for lumi_final - #174

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kyle-aus wants to merge 17 commits into

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feat/lumi-final

Commits on Jun 9, 2026

feat(lumi-final): update calibration and recordings for lumi_final mechanics
kyle-aus
committed
fdcbce0
feat(lumi-final): clamp hardcoded aim/rest positions to lumi_final joint limits
kyle-aus
committed
11a1587
feat(lumi-final): update calibration and recordings after re-calibration
kyle-aus
committed
bf71c4e
fix(servo): slow resume transition by 2x and sync arm position on resume
kyle-aus
committed
6530952
fix(servo): fix resume interpolation denominator and eliminate race condition
kyle-aus
committed
1275a29
fix(servo): update rest_pos to match natural gravity position of lumi_final
kyle-aus
committed
bb5bf95
fix(servo): slow resume transition by additional 30% (2.86x base duration)
kyle-aus
committed
ef3fb4e
fix(servo): add move_to_unclamped for release position beyond calibration range
kyle-aus
committed
7296a25
fix(servo): replace move_to_unclamped with move_to_raw using pre-computed encoder targets
kyle-aus
committed
dd4bcc9
fix(servo): adjust release wrist_pitch to -94.17deg (raw 1516)
kyle-aus
committed
b57b80c
fix(servo): set release wrist_pitch to -42.16deg (raw 2108)
kyle-aus
committed
9c99d6d
feat(servo): add resume startup position — arm wakes to defined pose before idle
kyle-aus
committed
639da3a
fix(servo): redefine zero position to physical rest pose of lumi_final
kyle-aus
committed
36357f5
fix(servo): adjust zero base_pitch to -20.25deg (raw 2082)
kyle-aus
committed
6fd8190
fix(servo): update zero position elbow_pitch to -30.54deg (raw 2019)
kyle-aus
committed
90d16b3
add script test touch sensor
kyle-aus
committed
4e93e2d

Commits on Jun 10, 2026

fix(servo): stop event loop before move_to_raw and verify rest position before torque cut
kyle-aus
committed
a9b53d2

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feat(lumi-final): update calibration and recordings for lumi_final - #174

feat(lumi-final): update calibration and recordings for lumi_final#174
kyle-aus wants to merge 17 commits into
mainfrom
feat/lumi-final

Commits on Jun 9, 2026

feat(lumi-final): update calibration and recordings for lumi_final mechanics

feat(lumi-final): clamp hardcoded aim/rest positions to lumi_final joint limits

feat(lumi-final): update calibration and recordings after re-calibration

fix(servo): slow resume transition by 2x and sync arm position on resume

fix(servo): fix resume interpolation denominator and eliminate race condition

fix(servo): update rest_pos to match natural gravity position of lumi_final

fix(servo): slow resume transition by additional 30% (2.86x base duration)

fix(servo): add move_to_unclamped for release position beyond calibration range

fix(servo): replace move_to_unclamped with move_to_raw using pre-computed encoder targets

fix(servo): adjust release wrist_pitch to -94.17deg (raw 1516)

fix(servo): set release wrist_pitch to -42.16deg (raw 2108)

feat(servo): add resume startup position — arm wakes to defined pose before idle

fix(servo): redefine zero position to physical rest pose of lumi_final

fix(servo): adjust zero base_pitch to -20.25deg (raw 2082)

fix(servo): update zero position elbow_pitch to -30.54deg (raw 2019)

add script test touch sensor

Commits on Jun 10, 2026

fix(servo): stop event loop before move_to_raw and verify rest position before torque cut