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gr00t-WholeBodyControl/decoupled_wbc/control/robot_model/model_data/g1/meshes

History

Joe DiPrima 56c9bcb9a2 Revert waist Kp override — NN actively controls waist The waist shows dynamic movement during walking (swagger), meaning the NN IS trained to control it. Overriding Kp amplifies the NN's calibrated actions and causes oscillation. Revert to default gains. Keep optional offset keys for future tuning. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>		1 month ago
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head_link.STL	gear-sonic	1 month ago
left_ankle_pitch_link.STL	gear-sonic	1 month ago
left_ankle_roll_link.STL	gear-sonic	1 month ago
left_elbow_link.STL	gear-sonic	1 month ago
left_elbow_link_merge.STL	gear-sonic	1 month ago
left_hand_index_0_link.STL	gear-sonic	1 month ago
left_hand_index_1_link.STL	gear-sonic	1 month ago
left_hand_middle_0_link.STL	gear-sonic	1 month ago
left_hand_middle_1_link.STL	gear-sonic	1 month ago
left_hand_palm_link.STL	gear-sonic	1 month ago
left_hand_thumb_0_link.STL	gear-sonic	1 month ago
left_hand_thumb_1_link.STL	gear-sonic	1 month ago
left_hand_thumb_2_link.STL	gear-sonic	1 month ago
left_hip_pitch_link.STL	gear-sonic	1 month ago
left_hip_roll_link.STL	gear-sonic	1 month ago
left_hip_yaw_link.STL	gear-sonic	1 month ago
left_knee_link.STL	gear-sonic	1 month ago
left_rubber_hand.STL	gear-sonic	1 month ago
left_shoulder_pitch_link.STL	gear-sonic	1 month ago
left_shoulder_roll_link.STL	gear-sonic	1 month ago
left_shoulder_yaw_link.STL	gear-sonic	1 month ago
left_wrist_pitch_link.STL	gear-sonic	1 month ago
left_wrist_roll_link.STL	gear-sonic	1 month ago
left_wrist_roll_rubber_hand.STL	gear-sonic	1 month ago
left_wrist_yaw_link.STL	gear-sonic	1 month ago
logo_link.STL	gear-sonic	1 month ago
pelvis.STL	gear-sonic	1 month ago
pelvis_contour_link.STL	gear-sonic	1 month ago
right_ankle_pitch_link.STL	gear-sonic	1 month ago
right_ankle_roll_link.STL	gear-sonic	1 month ago
right_elbow_link.STL	gear-sonic	1 month ago
right_elbow_link_merge.STL	gear-sonic	1 month ago
right_hand_index_0_link.STL	gear-sonic	1 month ago
right_hand_index_1_link.STL	gear-sonic	1 month ago
right_hand_middle_0_link.STL	gear-sonic	1 month ago
right_hand_middle_1_link.STL	gear-sonic	1 month ago
right_hand_palm_link.STL	gear-sonic	1 month ago
right_hand_thumb_0_link.STL	gear-sonic	1 month ago
right_hand_thumb_1_link.STL	gear-sonic	1 month ago
right_hand_thumb_2_link.STL	gear-sonic	1 month ago
right_hip_pitch_link.STL	gear-sonic	1 month ago
right_hip_roll_link.STL	gear-sonic	1 month ago
right_hip_yaw_link.STL	gear-sonic	1 month ago
right_knee_link.STL	gear-sonic	1 month ago
right_rubber_hand.STL	gear-sonic	1 month ago
right_shoulder_pitch_link.STL	gear-sonic	1 month ago
right_shoulder_roll_link.STL	gear-sonic	1 month ago
right_shoulder_yaw_link.STL	gear-sonic	1 month ago
right_wrist_pitch_link.STL	gear-sonic	1 month ago
right_wrist_roll_link.STL	gear-sonic	1 month ago
right_wrist_roll_rubber_hand.STL	gear-sonic	1 month ago
right_wrist_yaw_link.STL	gear-sonic	1 month ago
torso_constraint_L_link.STL	gear-sonic	1 month ago
torso_constraint_L_rod_link.STL	gear-sonic	1 month ago
torso_constraint_R_link.STL	gear-sonic	1 month ago
torso_constraint_R_rod_link.STL	gear-sonic	1 month ago
torso_link.STL	gear-sonic	1 month ago
torso_link_rev_1_0.STL	gear-sonic	1 month ago
waist_constraint_L.STL	gear-sonic	1 month ago
waist_constraint_R.STL	gear-sonic	1 month ago
waist_roll_link.STL	gear-sonic	1 month ago
waist_roll_link_rev_1_0.STL	gear-sonic	1 month ago
waist_support_link.STL	gear-sonic	1 month ago
waist_yaw_link.STL	gear-sonic	1 month ago
waist_yaw_link_rev_1_0.STL	gear-sonic	1 month ago