From ce1237fa419aab53783f824090ae34a68a6c7a96 Mon Sep 17 00:00:00 2001 From: Joe DiPrima Date: Mon, 23 Feb 2026 17:46:58 -0600 Subject: [PATCH] Bump waist roll/pitch Kp to 200, Kd to 10 MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Higher stiffness better simulates the missing physical waist clamp. Saturates at ~7° error which is tight enough for rigid behavior. Kd scaled proportionally for proper damping. Co-Authored-By: Claude Opus 4.6 --- .../src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp index 9cc4083..44f4447 100644 --- a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp +++ b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp @@ -2842,10 +2842,10 @@ class G1Deploy { // avoid stripping gears against a clamp, but without the clamp the waist // flops under dynamic loads. Higher gains keep it rigid. // MuJoCo 13 = waist_roll, 14 = waist_pitch. - motor_command_tmp.kp.at(13) = 100.0f; - motor_command_tmp.kd.at(13) = 5.0f; - motor_command_tmp.kp.at(14) = 100.0f; - motor_command_tmp.kd.at(14) = 5.0f; + motor_command_tmp.kp.at(13) = 200.0f; + motor_command_tmp.kd.at(13) = 10.0f; + motor_command_tmp.kp.at(14) = 200.0f; + motor_command_tmp.kd.at(14) = 10.0f; // Optional pitch offset (keys 7/8). Default 0°. double waist_offset_rad = g_waist_pitch_offset_deg.load() * M_PI / 180.0; if (waist_offset_rad != 0.0) {