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tweak(unitree_g1): rest elbow to ~160deg instead of full straight

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Co-authored-by: Cursor <cursoragent@cursor.com>
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Martino Russi
2026-07-18 18:55:01 +02:00
parent 498c78be13
commit 5c587f3feb
1 changed files with 1 additions and 1 deletions
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src/lerobot/robots/unitree_g1/config_unitree_g1.py
+1 -1
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@@ -51,7 +51,7 @@ _DEFAULT_KP, _DEFAULT_KD = _build_gains()
# sign of _REST_ELBOW. # sign of _REST_ELBOW.
_LEFT_ELBOW_IDX = 18 _LEFT_ELBOW_IDX = 18
_RIGHT_ELBOW_IDX = 25 _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]: def _build_default_positions() -> list[float]: