From f03818d97b1147ffc1ab81fd71d373e5ab1bb63b Mon Sep 17 00:00:00 2001 From: Joe DiPrima Date: Mon, 23 Feb 2026 18:01:47 -0600 Subject: [PATCH] Only stiffen waist_pitch, leave waist_roll at default Stiffening both axes caused shakiness during walking. Only pitch (forward/backward tilt) was the original problem. Roll left at default Kp=28.5 to avoid fighting lateral balance during gait. 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 b29aac0..48dfab1 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 @@ -2842,8 +2842,8 @@ 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) = 125.0f; - motor_command_tmp.kd.at(13) = 7.0f; + // Only stiffen waist_pitch (14) — the backward tilt axis. + // Leave waist_roll (13) at default to avoid fighting lateral balance. motor_command_tmp.kp.at(14) = 125.0f; motor_command_tmp.kd.at(14) = 7.0f; // Optional pitch offset (keys 7/8). Default 0°.