IK Deployment - #166
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Combines the session's fixes into one commit for a clean rebase onto main (previously 21 small incremental commits, several touching the same lines multiple times as issues were iterated on): - joint_command_node: command-staleness watchdog (0.5s timeout) with active DISABLE-on-staleness so the arm goes free shortly after the ArmPose source stops, instead of holding its last position - task_space_real.py: drives the real (left) arm chain instead of the passive right arm; DLS IK damping raised (lambda_val=0.2) after a confirmed instability (447/610 deg single-step jumps) near-singular in the redundant 6-DOF-arm/3-DOF-position-task Jacobian; cube spawn set to the measured default-pose fingertip position - bimanual_arm_physics.usd: joint1/2/3 localRot0 patched to match a fresh bimanual_arm.urdf import (axis-convention mismatch) - live_arm_isaacsim.py + feedback_to_udp_bridge.py: added (Isaac Lab live viewer + its UDP feedback bridge, mirroring live_arm_mjviser.py) - hardware_mapping.yaml: motor 11/13 can_id swap after a physical motor swap Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
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