gr00t-WholeBodyControl

bd95a89620 Revert measured context experiment main Joe DiPrima 2026-02-24 19:31:37 -0600
4c7db7fd9a Fix measured context v3: uniform joint blend across all 4 frames Joe DiPrima 2026-02-24 18:48:28 -0600
094dcc5a3a Fix measured context: override only frame 0, keep trajectory in frames 1-3 Joe DiPrima 2026-02-24 18:36:33 -0600
8ebca6e21f Ground planner context in measured robot state Joe DiPrima 2026-02-24 17:55:57 -0600
00cf77e47e Fix height key handlers to start from planner default when unset Joe DiPrima 2026-02-24 17:07:36 -0600
9461ca8ecd Reset standing height and hip offset to stock defaults Joe DiPrima 2026-02-24 17:02:06 -0600
4bb789e0e2 Neutral hold gains to 2x Joe DiPrima 2026-02-24 16:19:43 -0600
68f70dcc55 Reduce neutral hold gains to 3x (10x caused motor distress) Joe DiPrima 2026-02-24 15:53:07 -0600
7d49cfbf15 Add ankle debug logging to diagnose unresponsive ankle offset Joe DiPrima 2026-02-24 15:43:21 -0600
3e52905547 Bump neutral hold gains to 10x for free-hanging calibration Joe DiPrima 2026-02-24 15:28:57 -0600
fa06bedbfa Increase neutral hold gains to 5x for stiff calibration hold Joe DiPrima 2026-02-24 15:15:25 -0600
26e7aed884 Add ankle pitch offset control (keys q/w) for hardware calibration Joe DiPrima 2026-02-24 15:10:20 -0600
14cc19f213 Add neutral hold mode (key 'n') for joint inspection Joe DiPrima 2026-02-24 14:56:52 -0600
52ea44fd47 Add hip pitch offset to correct pelvis hardware revision Joe DiPrima 2026-02-24 13:35:44 -0600
e4b42f85e6 Add direct knee offset for standing height control Joe DiPrima 2026-02-24 10:33:56 -0600
1f7a1bdede Lower standing height to 0.72m and default IMU offset to -2 deg Joe DiPrima 2026-02-24 10:25:10 -0600
792a01a996 Revert waist Kp to stock values Joe DiPrima 2026-02-24 08:36:14 -0600
55c3131bc9 DIAGNOSTIC: waist Kp=200 to test if gain matters at all Joe DiPrima 2026-02-23 22:06:35 -0600
0e8126c05d Double waist roll/pitch Kp to overcome joint friction Joe DiPrima 2026-02-23 21:52:34 -0600
b05a2339cf Fix build: remove lost() (not in MotorState), cast mode to int Joe DiPrima 2026-02-23 20:42:11 -0600
4612b07725 Fix printf format for uint8_t mode/lost fields Joe DiPrima 2026-02-23 20:41:01 -0600
9bc192a421 Add torque, mode, lost flags to waist debug output Joe DiPrima 2026-02-23 20:40:14 -0600
38960d4a20 Add measured waist positions to debug output Joe DiPrima 2026-02-23 19:18:45 -0600
ee9eb4ade4 Increase waist debug log frequency to 1Hz Joe DiPrima 2026-02-23 19:07:58 -0600
d4d5ec5200 Add debug logging for raw NN waist action outputs Joe DiPrima 2026-02-23 18:59:30 -0600
56c9bcb9a2 Revert waist Kp override — NN actively controls waist Joe DiPrima 2026-02-23 18:07:21 -0600
f03818d97b Only stiffen waist_pitch, leave waist_roll at default Joe DiPrima 2026-02-23 18:01:47 -0600
50091ceb5d Reduce waist Kp to 125, Kd to 7 to avoid oscillation Joe DiPrima 2026-02-23 17:56:08 -0600
ce1237fa41 Bump waist roll/pitch Kp to 200, Kd to 10 Joe DiPrima 2026-02-23 17:46:58 -0600
90e897ab29 Stiffen waist roll/pitch to simulate missing physical clamp Joe DiPrima 2026-02-23 17:40:57 -0600
bf0f1136bd Fix compile error in waist debug logging Joe DiPrima 2026-02-23 17:32:33 -0600
7ae273f35b Add temporary waist pitch debug logging Joe DiPrima 2026-02-23 17:31:36 -0600
b1c75936e6 Increase waist pitch PD gains to track offset Joe DiPrima 2026-02-23 17:22:26 -0600
5fd5659122 Add waist pitch offset to compensate for locked-waist training Joe DiPrima 2026-02-23 17:07:35 -0600
6d3f2f0154 Restore 0.2 m/s minimum speed (planner trained range), 2s ramp Joe DiPrima 2026-02-23 13:54:24 -0600
74514e8963 Fix rotation and ramp rates for 100Hz input loop Joe DiPrima 2026-02-23 12:28:23 -0600
7651fab57e Remap rotation stick to start at 0 at dead zone edge Joe DiPrima 2026-02-23 08:00:48 -0600
910a850441 Cap rotation speed to ~45 deg/s (was ~230 deg/s) Joe DiPrima 2026-02-23 07:56:45 -0600
67b8ebbd55 Slow acceleration ramp to ~4s (was 2s) Joe DiPrima 2026-02-22 22:51:05 -0600
fa591e24e9 Slow acceleration ramp to ~2s (was 0.4s) Joe DiPrima 2026-02-22 21:15:38 -0600
4dfd008277 Add speed ramp-up and rescale speed range to start at 0 Joe DiPrima 2026-02-22 20:14:23 -0600
8bfe11b3a3 Map F1/F3 controller buttons to IMU pitch offset adjustment Joe DiPrima 2026-02-22 16:48:18 -0600
5c75288eb2 Add temporary button debug logger to identify physical button mapping Joe DiPrima 2026-02-22 16:26:27 -0600
343c210f4f Reset IMU pitch offset to 0 degrees for baseline testing Joe DiPrima 2026-02-22 14:26:35 -0600
c89ef9de26 Lock to SLOW_WALK mode with stock speed range (0.2-0.8 m/s) for testing Joe DiPrima 2026-02-22 14:21:42 -0600
8d9685ed3c Fix IMU correction: right-multiply for body-frame pitch Joe DiPrima 2026-02-22 13:06:39 -0600
cc9acfdb72 Reduce IMU pitch offset from -6° to -3° (was over-correcting) Joe DiPrima 2026-02-22 12:28:51 -0600
e0675a8add IMU pitch correction: Y-axis rotation -6° with runtime tuning Joe DiPrima 2026-02-22 12:23:51 -0600
73da28826f Revert all IMU pitch offset code — back to stock quaternion Joe DiPrima 2026-02-22 12:12:52 -0600
7b6687bcac Fix IMU pitch correction to Y-axis rotation, -8° default Joe DiPrima 2026-02-22 12:05:43 -0600
f54e78e8db Adjust IMU pitch offset from -6° to -8° Joe DiPrima 2026-02-22 11:50:02 -0600
b8d1f05f56 Fix IMU correction: rotate about X axis (not Y), default -6° Joe DiPrima 2026-02-22 11:40:33 -0600
c616b34875 Add runtime IMU pitch offset tuning (keys 9/0, ±1° steps) Joe DiPrima 2026-02-22 11:35:48 -0600
05264193fe Fix IMU pitch correction sign: +6° to correct backward lean Joe DiPrima 2026-02-22 11:28:20 -0600
cc596c2125 Apply 6-degree IMU pitch offset correction for G1 hardware Joe DiPrima 2026-02-22 11:17:29 -0600
774255c130 Add debug logging for planner mode/speed output Joe DiPrima 2026-02-22 10:31:57 -0600
eab8af065f Auto-switch locomotion mode based on stick magnitude Joe DiPrima 2026-02-22 10:11:46 -0600
e889c7fa06 Add proportional analog stick speed control to GamepadManager Joe DiPrima 2026-02-22 08:41:02 -0600
c3562ef0c3

Merge pull request #32 from NVlabs/gear-sonic Zhengyi "Zen" Luo 2026-02-20 17:05:21 -0800
b1560052e7 crawling zhengyiluo 2026-02-20 17:02:44 -0800
c947d79b6a

Merge pull request #29 from NVlabs/gear-sonic Zhengyi "Zen" Luo 2026-02-19 18:01:54 -0800
ca470c9e12 docs update zhengyiluo 2026-02-19 18:01:28 -0800
8c5c008df8

Merge pull request #28 from NVlabs/gear-sonic Zhengyi "Zen" Luo 2026-02-19 16:10:03 -0800
7d16927cd9 update docs zhengyiluo 2026-02-19 16:09:24 -0800
3ff2aa2be0

Merge pull request #27 from NVlabs/gear-sonic Zhengyi "Zen" Luo 2026-02-19 16:01:04 -0800
2a5e6a1b55 gear-sonic zhengyiluo 2026-02-19 15:45:52 -0800
3966393ed7

Merge pull request #13 from chernyadev/nc/fix_lm_pnp_apple_to_plate Runyu Ding 2025-12-08 10:08:52 -0800
1a64ef729c Fix apple texture chernyadev 2025-12-08 11:50:29 +0000
7e546da20b [del] remove set sim freq in sync env runyud 2025-11-18 22:08:38 -0800
ccee365ac5

Merge pull request #5 from NVlabs/ry/fix_lang xdaNvidia 2025-11-17 12:42:06 -0800
65e4c6cf4a [add] add W1 and W2 envs runyud 2025-11-16 11:45:49 -0800
68ec67f0a5 [fix] fix lang key runyud 2025-11-14 15:36:33 -0800
ffe9f7faea Initial commit Dennis Da 2025-11-12 23:13:39 -0800

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