CarolinePascal f07391948a Add EE keyboard teleop/sim for AX arm with robust IK ...

- 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.

2026-07-21 13:41:35 +02:00

..

simulate_ee_keyboard.py

Add EE keyboard teleop/sim for AX arm with robust IK

2026-07-21 13:41:35 +02:00

teleoperate_ee_keyboard.py

Add EE keyboard teleop/sim for AX arm with robust IK

2026-07-21 13:41:35 +02:00