From f54e78e8db943b618fb33079a23f9a511f7dbf92 Mon Sep 17 00:00:00 2001 From: Joe DiPrima Date: Sun, 22 Feb 2026 11:50:02 -0600 Subject: [PATCH] =?UTF-8?q?Adjust=20IMU=20pitch=20offset=20from=20-6=C2=B0?= =?UTF-8?q?=20to=20-8=C2=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Fine-tuned based on live testing — robot still leaned slightly back at -6°. Co-Authored-By: Claude Opus 4.6 --- .../include/input_interface/gamepad_manager.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp index 4e873ce..e7480f8 100644 --- a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp +++ b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp @@ -48,7 +48,7 @@ /// Runtime-adjustable IMU pitch offset (degrees). Keys 9/0 to adjust. /// Accessed from G1Deploy::UpdateRobotState() to correct base_quat. -inline std::atomic g_imu_pitch_offset_deg{-6.0}; +inline std::atomic g_imu_pitch_offset_deg{-8.0}; #if HAS_ROS2 #include "ros2_input_handler.hpp"