From 50091ceb5de4a55792963fa7c39ae24d627b008b Mon Sep 17 00:00:00 2001 From: Joe DiPrima Date: Mon, 23 Feb 2026 17:56:08 -0600 Subject: [PATCH] Reduce waist Kp to 125, Kd to 7 to avoid oscillation MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Kp=200 caused waist shaking. Back off to 125/7 — still 4x stiffer than default (28.5) but within stable range. 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 44f4447..b29aac0 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) = 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; + motor_command_tmp.kp.at(13) = 125.0f; + motor_command_tmp.kd.at(13) = 7.0f; + motor_command_tmp.kp.at(14) = 125.0f; + motor_command_tmp.kd.at(14) = 7.0f; // 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) {