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gr00t-WholeBodyControl/docs/source/api

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Joe DiPrima 5fd5659122 Add waist pitch offset to compensate for locked-waist training The SONIC policy was likely trained on mode_machine=6 (locked waist variant) where waist_roll and waist_pitch are fixed joints. On our mode_machine=5 robot the waist is free but the NN outputs near-zero for it. This adds a configurable waist_pitch offset (default +8°) applied directly to the motor command. Keys 7/8 adjust ±1° at runtime via tmux. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>		4 weeks ago
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index.md	gear-sonic	1 month ago
teleop.md	gear-sonic	1 month ago