From 5c587f3febede72dd52aba09b45f24eaa1f60da6 Mon Sep 17 00:00:00 2001 From: Martino Russi Date: Sat, 18 Jul 2026 18:55:01 +0200 Subject: [PATCH] tweak(unitree_g1): rest elbow to ~160deg instead of full straight Co-authored-by: Cursor --- src/lerobot/robots/unitree_g1/config_unitree_g1.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lerobot/robots/unitree_g1/config_unitree_g1.py b/src/lerobot/robots/unitree_g1/config_unitree_g1.py index d57be5443..61f37f210 100644 --- a/src/lerobot/robots/unitree_g1/config_unitree_g1.py +++ b/src/lerobot/robots/unitree_g1/config_unitree_g1.py @@ -51,7 +51,7 @@ _DEFAULT_KP, _DEFAULT_KD = _build_gains() # sign of _REST_ELBOW. _LEFT_ELBOW_IDX = 18 _RIGHT_ELBOW_IDX = 25 -_REST_ELBOW = 1.5 # rad, ~straight-down forearm +_REST_ELBOW = 1.17 # rad, ~160deg forearm (0 rad~=90deg, 1.5 rad~=180deg straight) def _build_default_positions() -> list[float]: