feat: add gripper gain and limit overrides to get_yam_robot#32
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jimmyyhwu wants to merge 3 commits intoi2rt-robotics:mainfrom
Open
feat: add gripper gain and limit overrides to get_yam_robot#32jimmyyhwu wants to merge 3 commits intoi2rt-robotics:mainfrom
jimmyyhwu wants to merge 3 commits intoi2rt-robotics:mainfrom
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…dation PassiveEncoderReader.validate_encoders() accesses can_interface.channel, but CanInterface.__init__ never stored it — breaking teaching handle mode.
When provided, uses the given limits directly and skips the open/close calibration routine for linear grippers.
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Summary
gripper_kp/gripper_kdparameter overrides toget_yam_robotfor tuning gripper gains without modifying config filesgripper_limits_overridetoget_yam_robotto allow skipping gripper calibrationchannelattribute inCanInterfacefor passive encoder validation