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gr00t-WholeBodyControl/external_dependencies/unitree_sdk2_python/unitree_sdk2py/g1/audio

History

Joe DiPrima 90e897ab29 Stiffen waist roll/pitch to simulate missing physical clamp Robot lacks the waist clamp expected by the locked-waist policy (mode_machine=6). Default Kp=28.5 is intentionally low to protect gears against a physical lock, but without the clamp the waist flops under dynamic loads (walking/running), causing backward tilt. Bump waist_roll and waist_pitch Kp to 100, Kd to 5 so the motors hold the waist rigid. Remove the 8-degree offset — the waist default position is correct, it just couldn't hold it. Keep offset keys 7/8 available for tuning if needed. Remove temporary debug logging. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>		4 weeks ago
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g1_audio_api.py	Initial commit	4 months ago
g1_audio_client.py	Initial commit	4 months ago