v 1.2

gripper_control/calibration.py

@@ -47,6 +47,8 @@ class ForceConverter:
     enabled: bool = True
     extrapolate: bool = True
     clamp_output_min: float | None = 0.0
+    input_mode: str = "magnitude"
+    signed: bool = False
 
     @classmethod
     def from_config(cls, calibration, config_name):
@@ -71,6 +73,8 @@ class ForceConverter:
             enabled=True,
             extrapolate=bool(calibration.get("extrapolate", True)),
             clamp_output_min=calibration.get("clamp_output_min", 0.0),
+            input_mode=str(calibration.get("input", "magnitude")).lower(),
+            signed=bool(calibration.get("signed", False)),
         )
 
     def convert(self, raw):
@@ -104,8 +108,14 @@ class ForceConverter:
             value = n0 + ratio * (n1 - n0)
         return self._clamp(value)
 
+    def convert_component(self, raw):
+        if not self.signed:
+            return self.convert(raw)
+        raw = float(raw)
+        sign = -1.0 if raw < 0.0 else 1.0
+        return sign * self.convert(abs(raw))
+
     def _clamp(self, value):
         if self.clamp_output_min is not None:
             value = max(float(self.clamp_output_min), value)
         return value
-