You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.

Tree: b1c75936e6

main

Branches Tags

${ item.name }

Create tag ${ searchTerm }

Create branch ${ searchTerm }

from 'b1c75936e6'

${ noResults }

gr00t-WholeBodyControl/gear_sonic/utils/network

History

Joe DiPrima b1c75936e6 Increase waist pitch PD gains to track offset Default Kp=28.5 generates only ~4 Nm at 8° error, insufficient to overcome gravity on the upper body. Bump to Kp=100, Kd=5 (matching hip-level stiffness) so the waist motor actually drives to the commanded position. Motor effort limit is 25 Nm, so 14 Nm command at 8° error is well within range. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>		4 weeks ago
..
network_utils.py	gear-sonic	1 month ago