- teleoperate_ee_keyboard.py: velocity IK (dual-quaternion resolved-rate
ported from realtime_servoing, plus a position-Jacobian solver) integrated
to position commands; local/global frame toggle where global uses the
position Jacobian with damped least-squares; constant Cartesian-speed
scaling with a joint-step cap; ramped homing to the reference pose.
- simulate_ee_keyboard.py: hardware-free 3D sim reusing the same IK.
- urdf_mapping.py: widen shoulder_pan (+/-90) and elbow_flex (0-180) limits.
- ax_arm.py: guard send_action against non-.pos / non-string keys.
CarolinePascal