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gr00t-WholeBodyControl/media

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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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pico_setup	gear-sonic	1 month ago
planner	gear-sonic	1 month ago
Pipeline.jpg	gear-sonic	1 month ago
flashing.png	gear-sonic	1 month ago
gear_sonic_header.png	gear-sonic	1 month ago
gear_sonic_teleop.gif	gear-sonic	1 month ago
groot_wbc.png	gear-sonic	1 month ago
screws.png	gear-sonic	1 month ago
ssd.png	gear-sonic	1 month ago
teleop_bimanual.gif	gear-sonic	1 month ago
teleop_getup.gif	gear-sonic	1 month ago
teleop_jumping.gif	gear-sonic	1 month ago
teleop_kneeling.gif	gear-sonic	1 month ago
teleop_running.gif	gear-sonic	1 month ago
teleop_sideways.gif	gear-sonic	1 month ago
teleop_switch_hands.gif	gear-sonic	1 month ago
teleop_walking.gif	gear-sonic	1 month ago