ROM soak: limit the 5° inset to wrist_2 and wrist_3 - #328
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#327 inset every joint's sweep by ROM_LIMIT_MARGIN. Only wrist_2 and wrist_3 need it; the shoulders, elbow and wrist_1 go back to sweeping their full limits as before. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Summary
#327 made
diag.rom-enablestop 5° short of every joint limit. Only wrist_2 and wrist_3 need that margin; the shoulders, elbow and wrist_1 go back to sweeping their full limits as before.almond_axol/diagnostics/rom/enable.py: newROM_INSET_JOINTS = {WRIST_2, WRIST_3};ROM_LIMIT_MARGIN(5°) is applied only to those. Shoulder/elbow limits are imported straight fromrobot/axol.pyagain.docs/cli/diag-rom-enable.mdx: describes the wrist-only inset.tests/test_rom_limit_margin.py: asserts only wrist_2/wrist_3 are inset, and that every other joint's sweep reaches its exact limit.Test plan
uv run pytest tests/test_rom_limit_margin.py tests/test_rom_partial_arm.pyruff check/ruff format --checkdiag.rom-enableon hardware🤖 Generated with Claude Code