Skip to content
Permalink

Comparing changes

Choose two branches to see what’s changed or to start a new pull request. If you need to, you can also or learn more about diff comparisons.

Open a pull request

Create a new pull request by comparing changes across two branches. If you need to, you can also . Learn more about diff comparisons here.
base repository: SafeRoboticsLab/go2_control_wrapper
Failed to load repositories. Confirm that selected base ref is valid, then try again.
Loading
base: main
Choose a base ref
...
head repository: SafeRoboticsLab/go2_control_wrapper
Failed to load repositories. Confirm that selected head ref is valid, then try again.
Loading
compare: duy-dev
Choose a head ref
Checking mergeability… Don’t worry, you can still create the pull request.
  • 17 commits
  • 27 files changed
  • 1 contributor

Commits on Mar 10, 2026

  1. fix sportmode deactivation, test run value shielding again

    @buzi-princeton
    buzi-princeton committed Mar 10, 2026
    Configuration menu
    Copy the full SHA
    1c6996d View commit details
    Browse the repository at this point in the history

Commits on Apr 19, 2026

  1. attempt to run new mjlab trained walking policy

    @buzi-princeton
    buzi-princeton committed Apr 19, 2026
    Configuration menu
    Copy the full SHA
    e697692 View commit details
    Browse the repository at this point in the history

  2. fix torch version load

    @buzi-princeton
    buzi-princeton committed Apr 19, 2026
    Configuration menu
    Copy the full SHA
    b51d848 View commit details
    Browse the repository at this point in the history

  3. fix low-level gain

    @buzi-princeton
    buzi-princeton committed Apr 19, 2026
    Configuration menu
    Copy the full SHA
    a2e1105 View commit details
    Browse the repository at this point in the history

  4. fix gain again and add log to analyze

    @buzi-princeton
    buzi-princeton committed Apr 19, 2026
    Configuration menu
    Copy the full SHA
    b5df0dc View commit details
    Browse the repository at this point in the history

  5. fix control frequency

    @buzi-princeton
    buzi-princeton committed Apr 19, 2026
    Configuration menu
    Copy the full SHA
    d20076d View commit details
    Browse the repository at this point in the history

  6. add more info to log

    @buzi-princeton
    buzi-princeton committed Apr 19, 2026
    Configuration menu
    Copy the full SHA
    b50b8e5 View commit details
    Browse the repository at this point in the history

  7. add new mujoco trained go2 safety model and code, fix default kd kp f… 

    …or walking policy
    @buzi-princeton
    buzi-princeton committed Apr 19, 2026
    Configuration menu
    Copy the full SHA
    f316119 View commit details
    Browse the repository at this point in the history

  8. add flag to disable stable stance for testing

    @buzi-princeton
    buzi-princeton committed Apr 19, 2026
    Configuration menu
    Copy the full SHA
    6b81867 View commit details
    Browse the repository at this point in the history

  9. fix how joint reset works in real, match eval_safety_filter.py

    @buzi-princeton
    buzi-princeton committed Apr 19, 2026
    Configuration menu
    Copy the full SHA
    4fef6ef View commit details
    Browse the repository at this point in the history

  10. replace v22 model with v22_long model for better sim2real

    @buzi-princeton
    buzi-princeton committed Apr 19, 2026
    Configuration menu
    Copy the full SHA
    db901aa View commit details
    Browse the repository at this point in the history

  11. add 2 new ctrl weights

    @buzi-princeton
    buzi-princeton committed Apr 19, 2026
    Configuration menu
    Copy the full SHA
    afb5bd7 View commit details
    Browse the repository at this point in the history

  12. add smoothing to stable stance

    @buzi-princeton
    buzi-princeton committed Apr 19, 2026
    Configuration menu
    Copy the full SHA
    a811941 View commit details
    Browse the repository at this point in the history

  13. add log to rcbf for debugging

    @buzi-princeton
    buzi-princeton committed Apr 19, 2026
    Configuration menu
    Copy the full SHA
    58beeab View commit details
    Browse the repository at this point in the history

  14. add ema smoothing

    @buzi-princeton
    buzi-princeton committed Apr 19, 2026
    Configuration menu
    Copy the full SHA
    6c54a62 View commit details
    Browse the repository at this point in the history

Commits on May 12, 2026

  1. sync code before attempting to run new walking policy with piper mounted

    @buzi-princeton
    buzi-princeton committed May 12, 2026
    Configuration menu
    Copy the full SHA
    ef23783 View commit details
    Browse the repository at this point in the history

  2. add zero command bypass

    @buzi-princeton
    buzi-princeton committed May 12, 2026
    Configuration menu
    Copy the full SHA
    9b469e6 View commit details
    Browse the repository at this point in the history
Loading