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g1-teleop/scripts

History

melancholytron 31169b6024 Fix wrist rotation + enable finger tracking via XRHandTracker - 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>		3 weeks ago
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body_tracker.gd	Fix wrist rotation + enable finger tracking via XRHandTracker	3 weeks ago
body_tracker.gd.uid	Add start screen UI, hand/body tracking, upgrade to Godot 4.6.1	1 month ago
start_screen.gd	Add in-VR numpad for IP/port input, update default server to 10.0.0.77	4 weeks ago
start_screen.gd.uid	Add start screen UI, hand/body tracking, upgrade to Godot 4.6.1	1 month ago
teleop_client.gd	Initial commit: Native Quest 3 teleop app with body tracking	1 month ago
teleop_client.gd.uid	Add start screen UI, hand/body tracking, upgrade to Godot 4.6.1	1 month ago
vr_ui_pointer.gd	Fix body tracking joint indices (Meta→Godot enum) + IK elbow constraints	3 weeks ago
vr_ui_pointer.gd.uid	Add start screen UI, hand/body tracking, upgrade to Godot 4.6.1	1 month ago
webcam_display.gd	Initial commit: Native Quest 3 teleop app with body tracking	1 month ago
webcam_display.gd.uid	Add start screen UI, hand/body tracking, upgrade to Godot 4.6.1	1 month ago