From 3b6de2fdf8f4a4604afa9d3a2cd58d5a4bdc29e8 Mon Sep 17 00:00:00 2001 From: Martino Russi Date: Fri, 26 Jun 2026 13:46:33 +0200 Subject: [PATCH] fix(unitree_g1): fix typo flagged by spellchecker in motion_loader docstring --- examples/unitree_g1/motion_loader.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/unitree_g1/motion_loader.py b/examples/unitree_g1/motion_loader.py index 05e867cdc..b92ebd9f1 100644 --- a/examples/unitree_g1/motion_loader.py +++ b/examples/unitree_g1/motion_loader.py @@ -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]``):