- scripts/: explore_and_calibrate.py (probe envelope from actual + random sampling),
extend_calibration.py (loop fino a n_used >= TARGET_GOOD), repeatability.py
(diagnostica bias vs noise sul marker-finder)
- config.yaml: calibration.method TSAI → DANIILIDIS (sweep su 49 sample H1 sx
mostra 4× meno residuo di TSAI per via del bias intrinsics-dipendente di
marker-finder)
- README: dual-robot G1/H1, scripts dir, caveat noti (wrist passthrough,
marker-finder intrinsics floor, H1 4 DoF, /api/arms/go_neutral non proxato)
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
