REF: cc/frontier#2663
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The FloatArray alias and its numpy.typing.NDArray import were never referenced. Remove both.
The OpenArmRSMotorSpecConfig alias for DamiaoMotorSpec was only referenced by its own __all__ entry; nothing imports it. Remove both.
Move 'import time' out of FakeState.__init__ to the module top, per the imports-at-top convention. FakeState.timestamp is still read by the adapter's staleness check, so it stays.
gravity_comp=True and canfd=True are already the OpenArmRSAdapter defaults. The blueprint should only specify what differs, so keep just gravity_model_path.
Per the imports convention, a lazy import of a heavy optional dep needs a comment saying why. Add it to both gravity-model import sites.
tick_deadline_us=1_000 and state_cache_ttl_s=0.002 were unnamed magic numbers duplicated as defaults in both the base and the openarm_rs subclass. Hoist them to _DEFAULT_TICK_DEADLINE_US and _DEFAULT_STATE_CACHE_TTL_S so the two can't drift.
The 'can0' interface name was hard-coded three times: the base constructor default, the base None-coalesce, and the openarm_rs subclass default. Collapse them onto one _DEFAULT_ADDRESS constant so the literal lives in exactly one place. The None-coalesce stays to handle a config that leaves address unset (the factory then passes address=None).
- refresh_state: build the position/velocity/torque lists with ndarray.tolist() instead of per-element float() loops. - write_mit_commands: assemble the MIT matrix with np.column_stack instead of a Python comprehension over zipped rows; this removes the now-redundant _mit_command_rows helper (validation moves to a direct _validate_command_lengths call). - read_state: look the control-mode index up in a precomputed _CONTROL_MODE_INDEX map instead of rebuilding list(ControlMode) every call.
The connect/disconnect/write_enable/write_clear_errors/write_stop paths stuffed context into f-string log lines and dropped the traceback on real failures. Switch to structlog key/value fields and use logger.exception (or warning with exc_info) so the traceback survives instead of being downgraded to an f-string error message.
When the pre-command state read fails, the adapter substitutes zero feed-forward torque. Log a warning (with traceback) so the dropped gravity term is visible instead of being silently swallowed.
The try wrapped both refresh_state and compute_gravity_torques under a broad except Exception, masking a real gravity-model error as 'invalid state'. Scope the try to refresh_state (the call that raises RuntimeError on a bad read) and let a genuine compute error propagate. Also switch the log line to structured fields with a traceback.
The **_: object catch-all silently dropped misspelled adapter kwargs. The registry factory only passes declared parameters (dof, address, hardware_id plus the blueprint adapter_kwargs), so drop the catch-all to turn config typos into a clear TypeError.
The OpenArm integration guide inlined the kp/kd preset numbers, which drift from the adapter code. Replace them with a pointer to OpenArmRSAdapter._DEFAULT_KP/_DEFAULT_KD (and the openarm adapter's own constants).
…utofixes Auto-fixes for cc/openarm-rust-adapter
…le-io feat: add configuration-resolved module io
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opened for tracking, pls ignore