The robot config now lives in a folder in the host user directory ~/.config, which gets mounted to the container.
The default config will be generated if it doesn't exist on launch. The config can be modified if required for the specific Pi/robot.
Also, the sense of how motor orientations relate to tendon actuation has been changed - now increasing motor angle and positive current correspond to increasing the tendon length (previously was the opposite). The default config should match the v1 Helix, in terms of the physical orientations of the motors. The v0 helix was built the other way around, so the local config needs to be modified accordingly.
The robot config now lives in a folder in the host user directory ~/.config, which gets mounted to the container.
The default config will be generated if it doesn't exist on launch. The config can be modified if required for the specific Pi/robot.
Also, the sense of how motor orientations relate to tendon actuation has been changed - now increasing motor angle and positive current correspond to increasing the tendon length (previously was the opposite). The default config should match the v1 Helix, in terms of the physical orientations of the motors. The v0 helix was built the other way around, so the local config needs to be modified accordingly.