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fix(unitree_g1): fix typo flagged by spellchecker in motion_loader docstring

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Martino Russi
2026-06-26 13:46:33 +02:00
parent 744f3667c0
commit 3b6de2fdf8
1 changed files with 1 additions and 1 deletions
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examples/unitree_g1/motion_loader.py
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@@ -25,7 +25,7 @@ body's *root orientation removed* (per-frame canonical), exactly like the live
deploy stream's ``smpl_joints_local`` (see ``process_smpl_joints`` in the GEAR
PICO teleop and ``smpl_joints_multi_future_local`` in training). The reference
``smpl_filtered`` clips instead store **world-frame** joints (heading retained),
so feeding them raw makes the robot move but mis-track / never face-forward.
so feeding them raw makes the robot move but track poorly / never face-forward.
This loader therefore canonicalizes on load using the clip's per-frame root
orientation (``pose_aa[:, :3]``):