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teleop/assets/h1

History

Joe DiPrima 83045b652a Add rotation I-term for wrist orientation drift correction Adds integral correction in axis-angle space to actively correct wrist rotation drift over time. Complements the existing rotation blend dampening with closed-loop feedback. - rotation_to_rotvec() and rotvec_to_rotation() helpers (refactored from scale_rotation) - --ki-rot (default 0.3) and --i-rot-clamp (default 0.3 rad) CLI args - Rotation error computed as rotvec(target_R @ actual_R^T), same leaky integrator as position - Magnitude-based anti-windup clamping (preserves axis direction) - Switched I-term FK from compute_fk to compute_fk_pose for full SE(3) - Updated periodic logging to include rotation I-term stats Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>		1 month ago
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meshes	[update] support h1 and inspire hand	11 months ago
h1_with_hand.urdf	[update] support h1 and inspire hand	11 months ago