From 4bb789e0e23963b2b5ccd93d3ac4b2a79f7dd145 Mon Sep 17 00:00:00 2001 From: Joe DiPrima Date: Tue, 24 Feb 2026 16:19:43 -0600 Subject: [PATCH] Neutral hold gains to 2x Co-Authored-By: Claude Opus 4.6 --- .../src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 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 20b5559..8d58416 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 @@ -2829,9 +2829,9 @@ class G1Deploy { MotorCommand motor_command_tmp; // Neutral hold mode: bypass NN, command default angles directly (key 'n') - // Uses 3x gains for firm hold — useful for visual joint calibration. + // Uses 2x gains for firm hold — useful for visual joint calibration. if (g_neutral_hold_mode.load()) { - constexpr float neutral_gain_mult = 3.0f; + constexpr float neutral_gain_mult = 2.0f; for (int i = 0; i < G1_NUM_MOTOR; i++) { motor_command_tmp.q_target.at(i) = static_cast(default_angles[i]); motor_command_tmp.tau_ff.at(i) = 0.0;