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gr00t-WholeBodyControl/decoupled_wbc/control/base

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Joe DiPrima 52ea44fd47 Add hip pitch offset to correct pelvis hardware revision Theory: newer G1 pelvis has shifted hip pitch zero point, causing backward lean. IMU offset masked the symptom but caused tippy-toe stance. Hip pitch offset applied post-NN to motor commands (NN is blind to adjustment). Default +3 deg more flexion on both hips. - IMU offset reset to 0 (was -2) - Knee offset reset to 0 (was 5) - Hip pitch offset: +3 deg default, keys 1/2 for +/- 1 deg - Positive = more flexion = legs forward = counteracts backward lean Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>		4 weeks ago
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__init__.py	gear-sonic	1 month ago
env.py	gear-sonic	1 month ago
humanoid_env.py	gear-sonic	1 month ago
policy.py	gear-sonic	1 month ago
sensor.py	gear-sonic	1 month ago