Dashboard and motor setup updates

NOTE: authored in earlier sessions, not by me, and not reviewed as part of this
work. Committed at the user's request to capture the working-tree state.

nicegui_test.py — ~549 lines of dashboard changes.
hardware/motor_setup.py — motor configuration changes.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

Author: Source Robotics

hardware/motor_setup.py

@@ -118,22 +118,31 @@ def create_joint_objects(joint_num, motor_encoder, master_position, gear_ratio,
 # Filter Setup
 # ==========================================================================
 
-def initialize_filters(joint_num, alpha_speed=0.15, alpha_torque=0.25):
+def initialize_filters(
+    joint_num,
+    alpha_speed=0.15,
+    alpha_torque=0.25,
+    alpha_tcp_acceleration=0.15,
+):
     """
     Initialize filter arrays and parameters.
     
     Args:
         joint_num (int): Number of joints
         alpha_speed (float): Smoothing factor for speed filter (default: 0.15)
         alpha_torque (float): Smoothing factor for torque filter (default: 0.25)
+        alpha_tcp_acceleration (float): Smoothing factor for TCP acceleration
     
     Returns:
         dict: Dictionary containing filter arrays and parameters
     """
     filters = {
         'joint_speed_filtered': np.zeros(joint_num, dtype=float),
+        'tcp_acceleration_filtered': np.zeros(6, dtype=float),
+        'tcp_acceleration_filter_initialized': np.zeros(1, dtype=bool),
         'joint_torque_filtered': np.zeros(joint_num, dtype=float),
         'alpha_Speed': alpha_speed,
+        'alpha_TCP_acceleration': alpha_tcp_acceleration,
         'alpha_Torque': alpha_torque
     }