Merge pull request #11 from parametricpbc/johnnewsom/readme-stuff

Resolve few small typos in READMEs

Author: i2rt-software

README.md

@@ -226,19 +226,6 @@ robot = get_yam_robot(channel="can0", zero_gravity_mode=False)
 
 In this mode, the current joint positions (`qpos`) are used as the PD target, keeping the arm stable in its initial state.
 
-One important way to reduce the risk of the arm going out of control is to avoid entering zero-gravity mode.
-
-By default, the arm initializes in zero-gravity mode. As mentioned earlier, if the arm does not have a timeout but the gravity compensation loop fails, the motor controller will continue applying a constant torque. This can lead to unexpected and potentially unsafe behavior.
-
-To prevent this, you should always set a PD target. With a PD target, the motor controller ensures the arm reaches a stable state rather than drifting under uncontrolled torque.
-
-You can disable the default zero-gravity initialization like this:
-```python
-robot = get_yam_robot(channel="can0", zero_gravity_mode=False)
-```
-
-In this mode, the current joint positions (`qpos`) are used as the PD target, keeping the arm stable in its initial state.
-
 ## Flow Base Usage
 
 For unboxing instructions and hardware setup details, please refer to the [FlowBase README](./i2rt/flow_base/README.md).

examples/bimanual_lead_follower/README.md

@@ -18,7 +18,7 @@ This tutorial demonstrates how to set up a bimanual lead-follower system. This t
 
 **⚠️ Critical Step:** Plug in **one CAN device at a time** to avoid conflicts.
 
-1. Follow the instructions in [set_persist_id_socket_can.md](doc/set_persist_id_socket_can.md) to configure each arm:
+1. Follow the instructions in [set_persist_id_socket_can.md](../../doc/set_persist_id_socket_can.md) to configure each arm:
    - **Left leader arm:** `can_leader_l`
    - **Right leader arm:** `can_leader_r`
    - **Left follower arm:** `can_follower_l`