From 586c79e069edf8eb3109856c7396bcd2d76d9bcc Mon Sep 17 00:00:00 2001 From: Martino Russi Date: Tue, 14 Jul 2026 09:42:10 +0200 Subject: [PATCH] Match GR00T locomotion obs scales to training config Set ANG_VEL_SCALE and CMD_SCALE yaw to 0.5 (was 0.25) so the GrootLocomotionController normalizes observations identically to the GR00T-WholeBodyControl training yaml, making it a faithful port. Co-authored-by: Cursor --- src/lerobot/robots/unitree_g1/gr00t_locomotion.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lerobot/robots/unitree_g1/gr00t_locomotion.py b/src/lerobot/robots/unitree_g1/gr00t_locomotion.py index 12fe26073..c3182a9ed 100644 --- a/src/lerobot/robots/unitree_g1/gr00t_locomotion.py +++ b/src/lerobot/robots/unitree_g1/gr00t_locomotion.py @@ -39,10 +39,10 @@ GROOT_DEFAULT_ANGLES[[4, 10]] = -0.2 # Ankle pitch # Control parameters ACTION_SCALE = 0.25 CONTROL_DT = 0.02 # 50Hz -ANG_VEL_SCALE: float = 0.25 +ANG_VEL_SCALE: float = 0.5 DOF_POS_SCALE: float = 1.0 DOF_VEL_SCALE: float = 0.05 -CMD_SCALE: list[float] = [2.0, 2.0, 0.25] +CMD_SCALE: list[float] = [2.0, 2.0, 0.5] DEFAULT_GROOT_REPO_ID = "nepyope/GR00T-WholeBodyControl_g1"