- A button and r key now toggle tracking (start/pause) instead of one-way start
- X/h arm reset works regardless of tracking state (can pause then reset)
- I-term accumulators cleared when paused to prevent stale drift correction
- Main loop stays alive while paused (buttons still polled, can resume with A)
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Map physical R3 buttons (A/B/X/Y/Start) to teleop actions so the
operator can control tracking, arm reset, I-term toggle, and recording
without needing a separate SSH keyboard session.
- Store wireless_remote bytes from rt/lowstate in G1_29_LowState
- Add get_wireless_remote() accessor to arm controller
- Parse button bitmasks with edge detection (fire on 0→1 only)
- A=start, B=stop, X=reset arms, Y=toggle I-term, Start=toggle recording
- Buttons work in both pre-tracking wait loop and main control loop
- Keyboard shortcuts (r/q/h/i/s) still work alongside R3 buttons
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Adds a closed-loop integral (I) term to compensate for arm drift caused
by the 250Hz velocity clipper. When the user moves faster than the clip
limit, the robot falls behind; the I-term accumulates the task-space
position error (FK vs VP target) and biases future IK targets to catch up.
New features:
- --ki/--i-clamp/--i-decay CLI args for tunable gain, anti-windup, decay
- 'h' key resets arms to home position without exiting the program
- 'i' key toggles integral correction on/off mid-session
- Per-second logging of error magnitude, I accumulator, and correction
- compute_fk() method on G1_29_ArmIK for Pinocchio forward kinematics
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Issues caused:
• Import executed only at runtime → inconsistent behavior
• IDE & linters cannot detect missing modules
• Violates PEP8: imports must appear at top of file
• Could cause crashes if execution flow skips the lazy import
Joe DiPrima
孙昌贺
silencht
dejun.huang
Yunjai, Lee
libsxm-dev