+ Rj tRt^RIt^RIt^RIt^RIt^RIHtHt^RIH t H t ^(t Rt ] R8Xd ] !4R#R#)aZero + direction calibration for ONE Feetech servo, done by hand. Two captures: 1) Move the servo to its URDF q=0 pose, press Enter -> INST_OFSCAL sets that physical position as tick 2048 (the joint zero), persisted in the servo EEPROM. 2) Move the servo in the URDF-NEGATIVE direction for that joint, press Enter -> the tool reads which way the tick moved and records the sign (+1/-1), so later `ticks_to_rad(pos, sign)` maps encoder ticks to URDF radians. Torque is disabled up front so you can move the servo freely. Result is merged into calib/.json keyed by servo id (run once per servo to build up a whole robot). Usage: python calibrate_servo.py --config gripper [--joint jaw] [--port /dev/tty...] N)Bus CENTER_TICK)CONFIGS calib_pathc h\P!4pVPR\R7VPRRR7VPRRRR7VPR RR7VP 4p\ P !VP/4pVP;'gEVP R /4P VP4;'gVP R 4pVf2\P!R VP R VP R24VP'd\VP4M \4pVPVP4'g%\P!RVP R24VPVPR4\!RVP R24\#RVP RV R24VP%VP4pVP'VP4'g\P!R4VP)VP4p\!RV RV R\* R24\#RVP RV R24VP%VP4pVf\!R4KIV\*, p\-V4\.8d\!R VR! R"24K|T^8d^MR3p \!R#T R$TR! R%T R! 24\1TP4p \2P4!\2P6P9T 4RR&7\2P6P;T 4'd \<P>!\AT 44M/p R'TR(T R)\*R*TR+T/T \CTP4&\<PD!T \AT R,4^R-7\!R.T R/TP R0T R1T R! R22 4TPG4R# TPG4i;i)4servo_id)typez--configgripper)defaultz--jointNzBURDF joint this servo drives (default: the config's default_joint))r helpz--port joint_map default_jointzNo --joint given and config 'z' has no mapping for servo .zServo z not responding on the bus.Fu) torque OFF — you can move it by hand. z1) Move servo z! to its ZERO pose (URDF q=0 for 'z'), then press Enter... u5INST_OFSCAL failed — servo did not accept the zero.z zeroed: was z , now reads z (target z). Tz2) Move servo z in the NEGATIVE 'z4' direction (per the URDF/sim), then press Enter... z read failed, try again.z only z+duU ticks of motion — move it further in the negative direction and press Enter again.z negative pose tick=z (delta z) -> sign = )exist_okjointsign zero_tickraw_zero_before_calneg_sample_tickw)indentz Saved -> z servo z : joint='z' sign=z (zero stored in servo EEPROM))$argparseArgumentParser add_argumentint parse_argsrgetconfigrrsysexitportrpingtorqueprintinputread_pos set_zero_hereread_pos_settlerabsMIN_DELTA_TICKSrosmakedirspathdirnameexistsjsonloadopenstrdumpclose) apacfgrbusrawztdrr-datas calibrate_servo.pymainr@s^  "BOOJSO)OOJ O2OOIt]_OOHdO+ A ++ahh #C GG [ [sww{B/33AJJ? [ [377?C[E } 0 :UVWV`V`Uaabcd#aff+SUC)xx ## HHvajj\)DE F 1::u% qzzl"LMN qzzl*KE7Rjklll1::&  ,, HHL M    + uL9[MNO N1::,.@H)* + QZZ(Ay23KA1v'2'9:; Ur &qc!B~d2YOP!((# BGGOOD)D9(*t(<(rHs= ('8v zFrG