diag.rom-enable

Range-of-motion soak test: sweep every joint for two hours.

Enables the motors, eases to home, then loops a full range-of-motion sweep of every joint for two hours. On a full-robot run it first prompts to clamp each gripper onto an item and holds it for the duration; when the soak finishes (or on Ctrl-C) the robot returns home with the item still gripped and the motors left enabled — run diag.rom-disable afterwards to release it and power down.

Joint positions and torques are captured to a CSV under ~/.almond/diagnostics/captures at 5 Hz so the run can be charted in the diagnostics dashboard’s run history.

axol diag.rom-enable
axol diag.rom-enable --no-right                          # left arm only
axol diag.rom-enable --joints wrist_1,wrist_2,wrist_3    # subset of joints
axol diag.rom-enable --web-prompts                       # dashboard-driven prompts
axol diag.rom-enable --no-capture                        # skip the telemetry CSV
axol diag.rom-enable --no-right --left-channel can0      # one arm on a non-hub CAN adapter

--left-channel / --right-channel override the SocketCAN interface used for each arm (default: the Axol hub adapter’s can_alm_axol_l / can_alm_axol_r) — for setups where the Axol hub CAN adapter isn’t attached. With a single-channel adapter, combine a channel override with --no-left / --no-right to run one arm.

By default each hands-on gripper step is an interactive input() prompt on the terminal. --web-prompts instead emits a [prompt] … marker and blocks on stdin, so the web dashboard can turn the step into a Continue button (it’s set automatically when launched from the dashboard).