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g1-teleop/server

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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>		1 month ago
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__init__.py	Initial commit: Native Quest 3 teleop app with body tracking	1 month ago
arm_ik_elbow.py	Fix body tracking joint indices (Meta→Godot enum) + IK elbow constraints	1 month ago
calibration_log.md	Add per-joint scale+offset calibration, hand tracker wrist, calibration tools	1 month ago
joint_calibrate.py	Add per-joint scale+offset calibration, hand tracker wrist, calibration tools	1 month ago
joint_test.py	Add per-joint scale+offset calibration, hand tracker wrist, calibration tools	1 month ago
launch_bridge.py	Add retargeting bridge for Isaac Sim teleoperation	1 month ago
native_tv_wrapper.py	Add per-joint scale+offset calibration, hand tracker wrist, calibration tools	1 month ago
requirements.txt	Add retargeting bridge for Isaac Sim teleoperation	1 month ago
retarget_bridge.py	Fix wrist rotation + enable finger tracking via XRHandTracker	1 month ago
teleop_server.py	Add per-joint scale+offset calibration, hand tracker wrist, calibration tools	1 month ago