Does the robot’s rest pose affect the MotionGen logic?

[nguyen-le-chuong]

Thank you for your impressive work.

I have tried your MotionGen source code with another robot, but I’m having a problem with the robot’s hand—it doesn’t have a natural pose as expected.

For your information, the robot I’m using has a rest pose with straight arms, whereas the G1 has its elbow-to-wrist perpendicular to the shoulder_yaw_link. Does this difference impact the results?

Thank you very much!