refactor: replace rotation vector with body up vector for tilt input

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- Replace body_attitude() with body_up_vector(): rotate world-up [0,0,1]
  by corrected world→body quaternion to get body up vector (pitch/roll only,
  no yaw). Matches DiffPhysDrone's env.R[:, 2] approach.
- Update ComputeTilt transform to use body_up_vector_np
- Update visualize_dataset.py to display Euler angles and body up vector
- Update model.py comments and disable CNN (zero output)
- Sync AGENTS.md with new architecture description

Generated by Mistral Vibe (ds-v4-flash).
Co-Authored-By: Mistral Vibe <vibe@mistral.ai>

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This commit is contained in:

CaoWangrenbo

2026-06-04 21:02:08 +08:00

parent 8e1a98207e

commit 0a504d648e

6 changed files with 218 additions and 36 deletions

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visualize/__init__.py Normal file