1. Settle ramp: after calibration, smoothly blend VP deltas from 0%
to 100% over --settle-time (default 0.5s). Prevents the initial
arm jerk caused by VP tracking jitter on the first frame.
2. Rotation blend: scale VP rotation deltas by --rot-blend (default
0.3) to prevent wrist joints from drifting to odd positions.
The VP-to-Unitree rotation convention may be wrong for Vision Pro
(tuned for PICO), so dampening rotation tracking avoids the IK
solver fighting a bad rotation target. Use --rot-blend 0 for
position-only tracking, --rot-blend 1 for full rotation.
Both parameters ramp together during settle: rot_alpha = rot_blend * settle_alpha
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
