From 792a01a9967a33fb6ce31d477490e0288a7e3c15 Mon Sep 17 00:00:00 2001 From: Joe DiPrima Date: Tue, 24 Feb 2026 08:36:14 -0600 Subject: [PATCH] Revert waist Kp to stock values MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Kp override approach doesn't work — changing PD gains breaks the NN's trained dynamics. Need to fix perception (IMU offset) not actuation. 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 86534f6..d0d9f45 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 - 200.0, // waist_roll_joint (DIAGNOSTIC: 7x override to test if Kp matters at all) - 200.0, // waist_pitch_joint (DIAGNOSTIC: 7x override to test if Kp matters at all) + 2.0 * STIFFNESS_5020, // waist_roll_joint + 2.0 * STIFFNESS_5020, // waist_pitch_joint STIFFNESS_5020, // left_shoulder_pitch_joint STIFFNESS_5020, // left_shoulder_roll_joint STIFFNESS_5020, // left_shoulder_yaw_joint