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gr00t-WholeBodyControl/decoupled_wbc/sim2mujoco/scripts

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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>		4 weeks ago
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run_mujoco_gear_wbc.py	gear-sonic	1 month ago
run_mujoco_gear_wbc_gait.py	gear-sonic	1 month ago