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>