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gr00t-WholeBodyControl/decoupled_wbc/control/envs/g1

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Joe DiPrima 094dcc5a3a Fix measured context: override only frame 0, keep trajectory in frames 1-3 Replacing all 4 context frames with identical measured snapshots gave the planner zero velocity information, causing extremely slow motion that degraded into jerky behavior. Now fills all 4 frames from planner trajectory first (preserving continuity), then overrides only frame 0 with measured state to ground the starting point in reality. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>		1 month ago
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sim	gear-sonic	1 month ago
utils	gear-sonic	1 month ago
__init__.py	gear-sonic	1 month ago
g1_body.py	gear-sonic	1 month ago
g1_env.py	gear-sonic	1 month ago
g1_hand.py	gear-sonic	1 month ago