- Replace flat JOINT_GAIN with per-joint JOINT_SCALE/JOINT_OFFSET linear mapping
for accurate retargeting (l_shoulder_pitch/roll/yaw, l_elbow calibrated)
- Switch shoulder parent from chest to hips to avoid head rotation contamination
- Add solo-joint mode (--solo-joint) for isolating single joints during testing
- Use XRHandTracker wrist transforms in body_tracker.gd for better wrist rotation
- Add joint_test.py for single-joint animation with pause-at-peak support
- Add joint_calibrate.py for XR-to-robot range calibration with scale+offset output
- Add calibration_log.md documenting extent tuning and axis mappings
- Disable waist/right arm/hands temporarily for left-arm-only testing
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
melancholytron