From a70cecf65e30aff298e3fc7eb24bd0008f7a789f Mon Sep 17 00:00:00 2001
From: cao-xiao-hao <127832643+cao-xiao-hao@users.noreply.github.com>
Date: Tue, 29 Sep 2026 11:55:06 +0800
Subject: [PATCH] fix: replace the default factory calibration with measured
 values

The factory file is the last entry of the automatic load chain, so its
numbers are what a unit runs on before it is calibrated on site.  The
shipped values were nominal for a 120 mm stroke unit (1.605 rad x
74.8 mm/rad); this unit travels 86.0 mm over 1.409552 rad, which is
61.0123 mm/rad.

The two limits keep their ordering, so the fallback stays a normal
mount and the direction the templates guard against is unchanged.

The file also carries kp 5.0 where it carried 100.0, and
load_calibration applies that field to GripperConfig, so the fallback
path now commands a softer grip.
---
 src/litegrip/factory_calibration.json | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/litegrip/factory_calibration.json b/src/litegrip/factory_calibration.json
index 07684e2..fed09d2 100644
--- a/src/litegrip/factory_calibration.json
+++ b/src/litegrip/factory_calibration.json
@@ -3,12 +3,12 @@
   "can_id": 8,
   "mst_id": 24,
   "canfd_mode": false,
-  "zero_position_rad": 0.114,
-  "max_position_rad": -1.491,
-  "travel_range_rad": 1.605,
-  "rad_to_mm": 74.8,
+  "zero_position_rad": 0.052071,
+  "max_position_rad": -1.357481,
+  "travel_range_rad": 1.409552,
+  "rad_to_mm": 61.01229326764816,
   "motor_type": "DM4310",
-  "kp": 100.0,
+  "kp": 5.0,
   "kd": 2.0,
   "grasp_torque_threshold": 0.5
 }