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gr00t-WholeBodyControl/external_dependencies/unitree_sdk2_python/example/b2/high_level

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Joe DiPrima 8ebca6e21f Ground planner context in measured robot state Replace planner's self-feedback loop with actual motor encoder + IMU data. The planner was reading its own previous output as context, causing IDLE mode to converge on straight knees (~12 deg) instead of the natural bent-knee posture (~38 deg). Now reads measured joint positions and IMU quaternion (with yaw stripped) each replan cycle. Toggle with 'm' key for A/B comparison. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>		4 weeks ago
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b2_sport_client.py	Initial commit	4 months ago