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gr00t-WholeBodyControl/decoupled_wbc/control/teleop/solver/hand

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Joe DiPrima b1c75936e6 Increase waist pitch PD gains to track offset Default Kp=28.5 generates only ~4 Nm at 8° error, insufficient to overcome gravity on the upper body. Bump to Kp=100, Kd=5 (matching hip-level stiffness) so the waist motor actually drives to the commanded position. Motor effort limit is 25 Nm, so 14 Nm command at 8° error is well within range. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>		1 month ago
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instantiation	gear-sonic	1 month ago
g1_gripper_ik_solver.py	gear-sonic	1 month ago