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gr00t-WholeBodyControl/decoupled_wbc/control/policy

History

Joe DiPrima fa06bedbfa Increase neutral hold gains to 5x for stiff calibration hold Ankle KP was only ~28.5, too weak to hold against body weight. 5x multiplier gives ankles ~142, hips ~495 for proper static hold. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>		4 weeks ago
..
__init__.py	gear-sonic	1 month ago
g1_decoupled_whole_body_policy.py	gear-sonic	1 month ago
g1_gear_wbc_policy.py	gear-sonic	1 month ago
identity_policy.py	gear-sonic	1 month ago
interpolation_policy.py	gear-sonic	1 month ago
keyboard_navigation_policy.py	gear-sonic	1 month ago
lerobot_replay_policy.py	gear-sonic	1 month ago
teleop_policy.py	gear-sonic	1 month ago
wbc_policy_factory.py	gear-sonic	1 month ago