Gravity feed-forward delivery and CAN driver generalization - #8
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The ARX-specific device, driver, and effector classes become protocol-named families shared by any MIT-mode CAN arm or serial arm: DeviceArmArx -> DeviceArmCan, DeviceArmNello -> DeviceArmSerial, DeviceEffectorArx/Nello -> DeviceEffectorCan/Serial, and DriverArx -> DriverCanMit. Config format 1.3.1 selects the family through the renamed arm_type/effector_type values, declares follower_gravity_compensation in the arm instance configs, and adds the abs_position servo field; model configs are migrated to the new schema. Native test suites, fuzz targets, and the CI test filters follow the renames.
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The follower position path sent model gravity torques to the wire unscaled, while the leader float path applied each joint's torq_rescale -- so followers over-delivered gravity torque on the base joints and under-delivered on the wrists, biasing the arm upward under policy control. Gravity feed-forward also stops being a planning type (slew_pos_gravity is removed): it is an independent per-arm setting, read from the instance config's follower_gravity_compensation field with a command-line override, and the feed-forward now routes through torq_rescale exactly like the leader paths. Instance configs may override torq_rescale and pos_kp/ki/kd per joint for site-specific profiles. The node reports each joint's effective servo parameters (MIT codec ranges, motor-reported ENCOS firmware ranges, applied torq_rescale and gains) so delivered torque can be reconstructed from the logs; ENCOS SPD ranges are adopted into the codec, while TOR ranges are verify-and-log only because delivered torque was found not to follow the firmware register.
ARX X5 and L5 followers default to conservative low position gains with per-joint torque rescales on the gravity feed-forward (X5 base 0.803 / wrist 1.51, L5 1.4); the manufacturer default gains remain available as *_high_gain_01 instance configs. Base torque limits rise (X5 36 Nm, L5 27 Nm) so the feed-forward no longer clips with the arm extended. The E_ARX gripper torque constant and spring offset are retuned, with an L5-specific instance config, and the right-side ARX_ENC encoder leader gets its own instance config using sign-agnostic gripper reads.
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Summary
arm_type/effector_typevalues).torq_rescale, matching the leader paths; gravity feed-forward becomes an independent per-arm setting instead of a planning type.torq_rescaleand gains) plus instance-config overrides fortorq_rescaleand position gains.*_high_gain_01instance configs.Test plan
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