add toggle between old calibration mode and new calibration mode (#1159)

* add toggle between old calibration mode and new calibration mode

* false -> true

crates/control/src/behavior/calibrate.rs

@@ -5,10 +5,18 @@ use types::{
     world_state::WorldState,
 };
 
-pub fn execute(world_state: &WorldState) -> Option<MotionCommand> {
+pub fn execute(
+    world_state: &WorldState,
+    use_stand_head_unstiff_calibration: bool,
+) -> Option<MotionCommand> {
     if PrimaryState::Calibration != world_state.robot.primary_state {
         return None;
     }
+    if use_stand_head_unstiff_calibration {
+        return Some(MotionCommand::Stand {
+            head: HeadMotion::Unstiff,
+        });
+    }
 
     let head =
         if let Some(CalibrationCommand { target, camera, .. }) = world_state.calibration_command {

crates/control/src/behavior/node.rs

@@ -72,6 +72,8 @@ pub struct CycleContext {
     maximum_step_size: Parameter<Step, "step_planner.max_step_size">,
     enable_pose_detection: Parameter<bool, "pose_detection.enable">,
     wide_stance: Parameter<WideStanceParameters, "wide_stance">,
+    use_stand_head_unstiff_calibration:
+        Parameter<bool, "calibration_controller.use_stand_head_unstiff_calibration">,
 }
 
 #[context]
@@ -273,7 +275,9 @@ impl Behavior {
                         *context.intercept_ball_parameters,
                         *context.maximum_step_size,
                     ),
-                    Action::Calibrate => calibrate::execute(world_state),
+                    Action::Calibrate => {
+                        calibrate::execute(world_state, *context.use_stand_head_unstiff_calibration)
+                    }
                     Action::DefendGoal => defend.goal(&mut context.path_obstacles_output),
                     Action::DefendKickOff => defend.kick_off(&mut context.path_obstacles_output),
                     Action::DefendLeft => defend.left(&mut context.path_obstacles_output),

etc/parameters/default.json

@@ -1530,6 +1530,7 @@
     "look_at_dispatch_delay": {
       "nanos": 0,
       "secs": 1
-    }
+    },
+    "use_stand_head_unstiff_calibration": true
   }
 }