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reduce verbosity

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This commit is contained in:
Martino Russi
2026-07-31 11:09:59 +02:00
parent d29fecfa2c
commit ec6da5c92e
1 changed files with 2 additions and 6 deletions
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src/lerobot/robots/unitree_g1/config_unitree_g1.py
+2 -6
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@@ -68,10 +68,6 @@ class UnitreeG1Config(RobotConfig):
# Compensates for gravity on the unitree's arms using the arm ik solver
gravity_compensation: bool = False
# Locomotion controller class name, e.g. "GrootLocomotionController",
# "HolosomaLocomotionController", or "SonicWholeBodyController". None disables it.
# Selecting "SonicWholeBodyController" implicitly switches the robot to the 64-D
# latent-token action/observation interface (``motion_token.{i}.pos`` action and a
# ``motion_token_state.{i}.pos`` state echo) so ``lerobot-rollout`` can drive a
# policy trained on SONIC motion tokens (e.g. nepyope/sonic_walk).
# Controller class name, e.g. GrootLocomotionController / HolosomaLocomotionController /
# SonicWholeBodyController. None disables it.
controller: str | None = None