Update README.md

README.md

@@ -1,6 +1,6 @@
 # Standalone MuJoCo Simulator for Unitree G1
 
-This is a standalone MuJoCo physics simulator for the Unitree G1 robot, extracted from the GR00T-WholeBodyControl repository.
+This is a standalone MuJoCo physics simulator for the Unitree G1 robot, inspire
 
 ## Features
 
@@ -89,7 +89,7 @@ Edit `config.yaml` to customize:
 
 ### PD Gains
 
-The simulator uses the following PD gains (matching NVIDIA GR00T):
+The simulator uses the following PD gains:
 
 **Legs (indices 0-11):**
 - Hip joints: KP=150, KD=2
@@ -127,7 +127,7 @@ Make sure mesh paths in `assets/g1_29dof_with_hand.xml` are relative:
 ### Robot falls immediately
 
 Check that:
-1. PD gains match NVIDIA's values (see config.yaml)
+1. PD gains are correctly configured (see config.yaml)
 2. Velocity command scaling is correct (ang_vel_scale=0.25, cmd_scale=[2.0, 2.0, 0.25])
 3. Observations for missing joints are zeroed out (indices 12, 14, 20, 21, 27, 28)
 
@@ -154,14 +154,7 @@ The simulator subscribes to:
 - Viewer updates at ~50Hz (20ms)
 - Typical CPU usage: 20-40% on single core
 
-## Files from GR00T-WholeBodyControl
-
-This standalone simulator was extracted from:
-- `gr00t_wbc/control/envs/g1/sim/` (simulation modules)
-- `gr00t_wbc/control/robot_model/model_data/g1/` (robot model files)
-- `gr00t_wbc/control/main/teleop/configs/g1_29dof_gear_wbc.yaml` (configuration)
-
 ## License
 
-Follows the license of the original GR00T-WholeBodyControl repository.
+Apache 2.0