From 0e8126c05de62a39bd0278c750975d7a22f8fb30 Mon Sep 17 00:00:00 2001 From: Joe DiPrima Date: Mon, 23 Feb 2026 21:52:34 -0600 Subject: [PATCH] Double waist roll/pitch Kp to overcome joint friction Motor test confirmed waist pitch (motor 14) physically moves when commanded at Kp=60 but not at Kp=28.5. Real-world friction threshold is ~3 Nm. Doubling Kp from 28.5 to 57 should allow the NN's waist commands to actually reach their targets. Co-Authored-By: Claude Opus 4.6 --- .../src/g1/g1_deploy_onnx_ref/include/policy_parameters.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/policy_parameters.hpp b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/policy_parameters.hpp index d0d9f45..e147ab5 100644 --- a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/policy_parameters.hpp +++ b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/policy_parameters.hpp @@ -154,8 +154,8 @@ const std::array kps = { 2.0 * STIFFNESS_5020, // right_ankle_pitch_joint 2.0 * STIFFNESS_5020, // right_ankle_roll_joint STIFFNESS_7520_14, // waist_yaw_joint - 2.0 * STIFFNESS_5020, // waist_roll_joint - 2.0 * STIFFNESS_5020, // waist_pitch_joint + 4.0 * STIFFNESS_5020, // waist_roll_joint (2x override for friction compensation) + 4.0 * STIFFNESS_5020, // waist_pitch_joint (2x override for friction compensation) STIFFNESS_5020, // left_shoulder_pitch_joint STIFFNESS_5020, // left_shoulder_roll_joint STIFFNESS_5020, // left_shoulder_yaw_joint