From ec6da5c92ed5b3df8adc4c33d639e8784f92164f Mon Sep 17 00:00:00 2001 From: Martino Russi Date: Fri, 31 Jul 2026 11:09:59 +0200 Subject: [PATCH] reduce verbosity --- src/lerobot/robots/unitree_g1/config_unitree_g1.py | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/src/lerobot/robots/unitree_g1/config_unitree_g1.py b/src/lerobot/robots/unitree_g1/config_unitree_g1.py index 702faad2b..3fbeb37fe 100644 --- a/src/lerobot/robots/unitree_g1/config_unitree_g1.py +++ b/src/lerobot/robots/unitree_g1/config_unitree_g1.py @@ -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