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teleop/assets/h1

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Joe DiPrima 1a3c2d77d9 Add integral drift correction, arm reset key, and I-term toggle Adds a closed-loop integral (I) term to compensate for arm drift caused by the 250Hz velocity clipper. When the user moves faster than the clip limit, the robot falls behind; the I-term accumulates the task-space position error (FK vs VP target) and biases future IK targets to catch up. New features: - --ki/--i-clamp/--i-decay CLI args for tunable gain, anti-windup, decay - 'h' key resets arms to home position without exiting the program - 'i' key toggles integral correction on/off mid-session - Per-second logging of error magnitude, I accumulator, and correction - compute_fk() method on G1_29_ArmIK for Pinocchio forward kinematics 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