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

hardware/calibration.md

@@ -0,0 +1,64 @@
+# Calibration
+
+One-time per-unit setup after assembly. Skeleton — paste actual numbers from your build into the TODOs.
+
+## Servo zero positions
+
+Each STS3215 needs a zero-offset captured for the kinematics in `lelamp/follower/` and `lelamp/leader/`. Procedure:
+
+1. Power up the lamp. Do not start the lelamp service yet (it grabs the bus).
+2. Manually move each joint to its mechanical zero (defined per joint — TODO: photo per joint).
+3. Run the calibration tool: TODO command.
+4. Calibration files land in `~/.cache/huggingface/lerobot/calibration/` and are read by `lelamp/calibration/`.
+
+| Servo | Joint | Mechanical zero | Recorded offset |
+|---|---|---|---|
+| 1 | base yaw | TODO | TODO |
+| 2 | shoulder | TODO | TODO |
+| 3 | elbow | TODO | TODO |
+| 4 | wrist | TODO | TODO |
+| 5 | head tilt | TODO | TODO |
+
+## Microphone gain
+
+### Voice mic (USB)
+- Initial: `amixer -c <usb_card> sset Mic 50%`
+- Tune until utterances peak at ~−12 dBFS in your room.
+- Recorded value: TODO
+
+### Sensing mic (onboard)
+- On Raspberry Pi: a watchdog clamps wm8960 capture gain to 160 — see `project_lumi_pcm_watchdog.md`. Don't fight it.
+- On OrangePi: TODO — measure ambient noise floor and pick gain.
+
+## Speaker volume
+
+- Set DAC level once, then leave it. lelamp's `set_volume` adjusts a software gain on top.
+- OrangePi safe defaults (from `project_orangepi_lelamp_dac_cap.md`):
+  - `amixer -c 1 sset 'ADC2DAC Mixer' 0`
+  - `amixer -c 1 sset 'ADCL/R PGA' 10` (≈ 30 dB)
+  - `amixer -c 1 sset DACL/R 70%` (≈ −6.5 dB)
+- Pi defaults: TODO
+
+## LED brightness cap
+
+- Maximum allowed: TODO % of max (limited by 5 V rail headroom — see [`power.md`](power.md)).
+- Capped in `lelamp/service/rgb/rgb_service.py` — confirm the constant matches what the rail can deliver.
+
+## Camera focus
+
+- IMX307 USB module is fixed-focus; nothing to do.
+- If image is soft, check the lens isn't loose in its mount.
+
+## Verification
+
+After calibration:
+- [ ] Each joint reaches its commanded position within ±2°
+- [ ] No clipping during normal-volume TTS
+- [ ] LED ring at full white doesn't brown out the SBC
+- [ ] No audible hum at idle volume
+
+## TODO
+
+- [ ] Capture command names for the servo calibration tool
+- [ ] Joint-zero photos
+- [ ] Final amixer values per board

lelamp/calibration/calibration.md

@@ -4,15 +4,19 @@ LeLamp uses 5x Feetech STS3215 servos controlled via the `lerobot` library. Each
 
 ## Calibration files
 
-On the Pi, lerobot looks for calibration at:
+lerobot looks for calibration at `~/.cache/huggingface/lerobot/calibration/` for the user running the service:
 
 ```
-/root/.cache/huggingface/lerobot/calibration/
+<user_home>/.cache/huggingface/lerobot/calibration/
 ├── robots/lelamp_follower/lelamp.json
 └── teleoperators/lelamp_leader/lelamp.json
 ```
 
-The path resolves from `~/.cache/huggingface/lerobot/calibration/` — since the service runs as **root**, it uses `/root/`.
+| Device | Service user | Calibration path |
+|--------|-------------|-----------------|
+| lumi2 / lumi3 (RPi 5) | `root` | `/root/.cache/huggingface/lerobot/calibration/` |
+| lumi4 (OrangePi 4P) | `root` | `/root/.cache/huggingface/lerobot/calibration/` |
+| lumi_final (OrangePi) | `orangepi` | `/home/orangepi/.cache/huggingface/lerobot/calibration/` |
 
 Each JSON contains per-servo values:
 
@@ -34,26 +38,33 @@ Each JSON contains per-servo values:
 | 4 | `wrist_roll` | Wrist rotation |
 | 5 | `wrist_pitch` | Wrist tilt |
 
-## Deploy to a new Pi (copy existing calibration)
+## Deploy to a device (copy existing calibration)
 
-If the new Pi uses the same servo hardware as an already-calibrated lamp, copy the calibration files:
+If the device uses the same servo hardware as an already-calibrated lamp, copy the calibration files.
 
+**Root-user devices (lumi2, lumi3, lumi4):**
 ```bash
-# On the new Pi, create the directories
 sudo mkdir -p /root/.cache/huggingface/lerobot/calibration/robots/lelamp_follower
 sudo mkdir -p /root/.cache/huggingface/lerobot/calibration/teleoperators/lelamp_leader
-
-# Copy from this repo
 sudo cp calibration/robots/lelamp_follower/lelamp.json \
   /root/.cache/huggingface/lerobot/calibration/robots/lelamp_follower/lelamp.json
-
 sudo cp calibration/teleoperators/lelamp_leader/lelamp.json \
   /root/.cache/huggingface/lerobot/calibration/teleoperators/lelamp_leader/lelamp.json
 ```
 
+**orangepi-user devices (lumi_final):**
+```bash
+mkdir -p /home/orangepi/.cache/huggingface/lerobot/calibration/robots/lelamp_follower
+mkdir -p /home/orangepi/.cache/huggingface/lerobot/calibration/teleoperators/lelamp_leader
+cp calibration/robots/lelamp_follower/lelamp.json \
+  /home/orangepi/.cache/huggingface/lerobot/calibration/robots/lelamp_follower/lelamp.json
+cp calibration/teleoperators/lelamp_leader/lelamp.json \
+  /home/orangepi/.cache/huggingface/lerobot/calibration/teleoperators/lelamp_leader/lelamp.json
+```
+
 Then restart the lelamp service. The servos will use the copied calibration values.
 
-> **Note:** Copied calibration will be close but may not be exact — each servo has slightly different mechanical offsets. For precise movement, run a fresh calibration (see below).
+> **Note:** The calibration files in this branch (`feat/lumi-final`) are tuned for **lumi_final's** servo hardware. The `wrist_pitch` recordings are scaled to ±55.8° to match lumi_final's physical range (vs ±113° on the original hardware).
 
 ## Run fresh calibration on a Pi
 

lelamp/calibration/robots/lelamp_follower/lelamp.json

@@ -2,36 +2,36 @@
     "base_yaw": {
         "id": 1,
         "drive_mode": 0,
-        "homing_offset": -962,
-        "range_min": 574,
-        "range_max": 3052
+        "homing_offset": 1928,
+        "range_min": 828,
+        "range_max": 3255
     },
     "base_pitch": {
         "id": 2,
         "drive_mode": 0,
-        "homing_offset": -475,
-        "range_min": 1516,
-        "range_max": 2468
+        "homing_offset": -381,
+        "range_min": 1608,
+        "range_max": 3017
     },
     "elbow_pitch": {
         "id": 3,
         "drive_mode": 0,
-        "homing_offset": -1697,
-        "range_min": 1184,
-        "range_max": 2620
+        "homing_offset": 518,
+        "range_min": 1651,
+        "range_max": 3082
     },
     "wrist_roll": {
         "id": 4,
         "drive_mode": 0,
-        "homing_offset": 912,
-        "range_min": 897,
-        "range_max": 3013
+        "homing_offset": 1962,
+        "range_min": 976,
+        "range_max": 3164
     },
     "wrist_pitch": {
         "id": 5,
         "drive_mode": 0,
-        "homing_offset": -587,
-        "range_min": 1750,
-        "range_max": 3310
+        "homing_offset": -1837,
+        "range_min": 2044,
+        "range_max": 3132
     }
-}
+}

lelamp/calibration/teleoperators/lelamp_leader/lelamp.json

@@ -2,36 +2,36 @@
     "base_yaw": {
         "id": 1,
         "drive_mode": 0,
-        "homing_offset": -1064,
-        "range_min": 963,
-        "range_max": 3177
+        "homing_offset": 1909,
+        "range_min": 974,
+        "range_max": 3142
     },
     "base_pitch": {
         "id": 2,
         "drive_mode": 0,
-        "homing_offset": -586,
-        "range_min": 1770,
-        "range_max": 2596
+        "homing_offset": -556,
+        "range_min": 1645,
+        "range_max": 3367
     },
     "elbow_pitch": {
         "id": 3,
         "drive_mode": 0,
-        "homing_offset": -1554,
-        "range_min": 673,
-        "range_max": 2598
+        "homing_offset": 431,
+        "range_min": 1741,
+        "range_max": 3325
     },
     "wrist_roll": {
         "id": 4,
         "drive_mode": 0,
-        "homing_offset": 865,
-        "range_min": 1038,
-        "range_max": 2912
+        "homing_offset": 1957,
+        "range_min": 924,
+        "range_max": 3071
     },
     "wrist_pitch": {
         "id": 5,
         "drive_mode": 0,
-        "homing_offset": -723,
-        "range_min": 1651,
-        "range_max": 3354
+        "homing_offset": -1794,
+        "range_min": 1828,
+        "range_max": 3360
     }
-}
+}

lelamp/presets.py

@@ -170,10 +170,10 @@
 AIM_PRESETS = {
     AIM_CENTER: {"base_yaw.pos": 3.0,   "base_pitch.pos": -20.0, "elbow_pitch.pos": 32.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": 0.0},
     AIM_DESK:   {"base_yaw.pos": 3.0,   "base_pitch.pos": 5.0,   "elbow_pitch.pos": 20.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": 40.0},
-    AIM_WALL:   {"base_yaw.pos": 3.0,   "base_pitch.pos": 5.0,   "elbow_pitch.pos": -20.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": -60.0},
+    AIM_WALL:   {"base_yaw.pos": 3.0,   "base_pitch.pos": 5.0,   "elbow_pitch.pos": -20.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": -47.82},
     AIM_LEFT:   {"base_yaw.pos": -90.0, "base_pitch.pos": -30.0, "elbow_pitch.pos": 57.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": 18.0},
     AIM_RIGHT:  {"base_yaw.pos": 90.0,  "base_pitch.pos": -30.0, "elbow_pitch.pos": 57.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": 18.0},
     AIM_UP:     {"base_yaw.pos": 3.0,   "base_pitch.pos": 10.0,  "elbow_pitch.pos": -15.0,  "wrist_roll.pos": 0.0, "wrist_pitch.pos": 25.0},
-    AIM_DOWN:   {"base_yaw.pos": 3.0,   "base_pitch.pos": -90.0, "elbow_pitch.pos": 90.0, "wrist_roll.pos": 0.0, "wrist_pitch.pos": -90.0},
+    AIM_DOWN:   {"base_yaw.pos": 3.0,   "base_pitch.pos": -61.93, "elbow_pitch.pos": 62.9, "wrist_roll.pos": 0.0, "wrist_pitch.pos": -47.82},
     AIM_USER:   {"base_yaw.pos": 0.0,   "base_pitch.pos": 0.0,   "elbow_pitch.pos": 0.0,  "wrist_roll.pos": 0.0, "wrist_pitch.pos": -45.0},
 }