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Match GR00T locomotion obs scales to training config

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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 <cursoragent@cursor.com>
This commit is contained in:
Martino Russi
2026-07-14 09:42:10 +02:00
parent 32bdf1f313
commit 586c79e069
1 changed files with 2 additions and 2 deletions
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src/lerobot/robots/unitree_g1/gr00t_locomotion.py
+2 -2
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@@ -39,10 +39,10 @@ GROOT_DEFAULT_ANGLES[[4, 10]] = -0.2 # Ankle pitch
# Control parameters # Control parameters
ACTION_SCALE = 0.25 ACTION_SCALE = 0.25
CONTROL_DT = 0.02 # 50Hz CONTROL_DT = 0.02 # 50Hz
ANG_VEL_SCALE: float = 0.25 ANG_VEL_SCALE: float = 0.5
DOF_POS_SCALE: float = 1.0 DOF_POS_SCALE: float = 1.0
DOF_VEL_SCALE: float = 0.05 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" DEFAULT_GROOT_REPO_ID = "nepyope/GR00T-WholeBodyControl_g1"