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gr00t-WholeBodyControl/decoupled_wbc/tests

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Joe DiPrima 4c7db7fd9a Fix measured context v3: uniform joint blend across all 4 frames Previous attempts failed: - v1 (all 4 frames = measured): zero velocity → slow then jerky - v2 (frame 0 override): 26deg discontinuity → instant chaos New approach: fill all 4 frames from planner trajectory first, then blend ONLY joint positions toward measured values uniformly (alpha=0.5). Position/quaternion stay from planner. Uniform blending preserves inter-frame velocity (scaled by 0.5) with no discontinuities. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>		4 weeks ago
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control	gear-sonic	1 month ago
data	gear-sonic	1 month ago
replay_data	gear-sonic	1 month ago
sim	gear-sonic	1 month ago
conftest.py	gear-sonic	1 month ago