hal: convert animation recordings to recalibrated hal_follower ranges - #244
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Remap all 32 recording CSVs from the pre-recalibration hal.json ranges to the current hal_follower ranges, preserving the original physical motion. Each normalized value is rescaled so it resolves to the same servo tick under the new ranges (verified within 1 encoder tick per joint).
leo-super-dev
approved these changes
Aug 21, 2026
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What
Remaps all 32 animation recording CSVs in
hal/recordings/from the pre-recalibrationhal.jsonranges to the currenthal_followerranges.Why
The recordings store normalized (-100..100) joint values that the runtime un-normalizes against the loaded
hal.jsonranges to get servo ticks. After the range recalibration, the same normalized value maps to a different physical tick, so the recordings need remapping to keep the intended motion.How
Per joint, per value:
n_new = normalize(unnormalize(n_old, old_ranges), new_ranges)— using the exact lerobot RANGE_M100_100 math, so each frame resolves to the same physical servo tick under the new ranges.Verification
Note for reviewers
This replaces the current recordings on
main. It is a mechanical remap that preserves the pre-recalibration motion; please compare against the existing set to confirm which is intended before merging.