feat(galbot): apply Sim2Real actuator gains and controller gravity compensation - #33
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Replace the pass-through USD actuator config with system-identified gains from the galbot-one-golf-sim2real-v1 profile (synthnova/src/synthnova/robots/cfg/galbot_one_golf.toml): - Arm shoulder (j1–j2): stiffness 3500/3400 N·m/rad, effort ±180 N·m - Arm elbow (j3–j4): stiffness 1145/1143 N·m/rad, effort ±90 N·m - Arm wrist (j5–j7): stiffness 284–286 N·m/rad, effort ±30 N·m - Leg joints : per-joint stiffness/damping, effort 70–433 N·m - Head joints : stiffness 80 N·m/rad, effort ±4 N·m - Grippers : stiffness 77 N·m/rad, effort ±1.5 N·m Left/right arm values are symmetrised (averaged) and rounded to integers. Velocity limits are set from the profile for all body joints. Gravity compensation is enabled via disable_gravity=True on the articulation's rigid bodies, matching the real robot's controller-side compensation and consistent with RoboLab's franka_high_pd convention. Two new tests are added to test_galbot_configs.py: - test_gravity_compensation_is_enabled - test_actuator_gains_match_sim2real_profile Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
ruziniuuuuu
marked this pull request as draft
September 18, 2026 13:23
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Apply the Galbot Golf Sim2Real actuator stiffness, damping, effort and velocity limits, and disable robot gravity to match the intended control setup. Wheels retain their USD drive properties.
Parameters come from SynthNova's
galbot-one-golf-sim2real-v1profile (src/synthnova/robots/cfg/galbot_one_golf.toml); left/right arm gains are averaged and rounded to integers.Draft: pending actuator configuration cleanup and runtime joint-tracking validation. Gravity will remain disabled.