CaoWangrenbo 8e1a98207e refactor: replace decompose_tilt with body_attitude, add quat_to_euler ...

- Add body_attitude() that applies R_odom_to_body calibration then
  converts directly to rotation vector (preserves yaw, unlike old
  decompose_tilt which stripped it)
- Add quat_to_euler() for visualization display
- Update ComputeTilt transform to use body_attitude_np (also fixes
  a bug where the old code omitted the static calibration)
- Update visualize_dataset.py to show Euler angles from body quaternion
  instead of yaw-stripped tilt rotation vector

This aligns with the DiffPhysDrone approach: let the model decide
whether to use yaw information, rather than removing it upfront.

Generated by Mistral Vibe.
Co-Authored-By: Mistral Vibe <vibe@mistral.ai>

2026-06-04 20:38:14 +08:00

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