- Compute R_CORR empirically from measured rotation matrices:
R_CORR_L = Rz(+90°) @ Rx(180°), R_CORR_R = Rz(-90°) @ Rx(180°)
Body tracking wrist frame differs from hand tracking frame used
by the reference xr_teleoperate code.
- Switch finger joint data from XRBodyTracker to XRHandTracker.
XRBodyTracker doesn't provide articulated finger data on Quest 3;
XRHandTracker does via camera-based hand tracking.
25 joints: PALM + 24 finger joints (skip WRIST), matching
dex-retargeting's expected format.
- Re-enable hand retargeting in bridge main loop (was disabled
during arm IK testing).
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
melancholytron
31169b6024