Debugging Tips: Gain Tuning

When debugging joint control, start with the KP/KD (stiffness/damping) values from the example code and make small adjustments based on observed physical robot behavior:

Scenario	KP Reference	KD Reference
Upper-body 10 joints	[40.0, 40.0, 20.0, 30.0, 10.0, 10.0, 20.0, 30.0, 10.0, 10.0]	[2.0, 2.0, 1.5, 2.0, 0.5, 0.5, 1.5, 2.0, 0.5, 0.5]
Leg 6 joints (one side)	[250.0, 250.0, 150.0, 250.0, 120.0, 120.0]	[15.0, 15.0, 8.0, 12.0, 8.0, 8.0]
T1 waist	100.0	8.0

If motion feels too stiff, try reducing the upper-body KP first. If foot-strike impact or vibration is noticeable, try increasing the leg KD first.