feature: emit transmission blocks in the install template#4
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The SO-101 install template no longer emits `reverse?: true` on actuators (the option has been removed from `BB.Servo.Feetech.Actuator`). Each joint that previously had `reverse?: true` now gets a `transmission` block with `reversed?(true)`. Joints with asymmetric limits get an explicit `offset` value preserving the auto-centering the actuator used to derive internally: - shoulder_pan: `reversed?(true)` - shoulder_lift: `offset ~u(90.0 degree)`, `reversed?(true)` - elbow_flex: `offset ~u(-90.0 degree)`, `reversed?(true)` - wrist_flex: `reversed?(true)` - wrist_roll: `reversed?(true)` - gripper: `offset ~u(45.0 degree)` (no reversal) The calibrate-servos how-to is updated to show the new shape. Refs: beam-bots/bb#108
BB's transmission DSL block moved from the joint to the attachment. Update the SO-101 install template's six transmission blocks to live inside their corresponding actuator's do/end.
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Companion PR to beam-bots/bb#110 and beam-bots/bb_servo_feetech#28.
Summary
The SO-101 install template no longer emits `reverse?: true` on
actuators (the option has been removed from `BB.Servo.Feetech.Actuator`).
Each joint that previously had `reverse?: true` now gets a
`transmission` block with `reversed?(true)`. Joints with asymmetric
limits get an explicit `offset` value preserving the auto-centering
the actuator used to derive internally:
The calibrate-servos how-to is updated to show the new shape for the
"gripper feels backwards" remedy.
Depends on
<transmission>in the BB DSL bb#110reverse?, move to motor-space bb_servo_feetech#28Test plan
module that compiles