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Fix/animation kd kp#907

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jgueldenstein wants to merge 4 commits into
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fix/animation_kd_kp
Open

Fix/animation kd kp#907
jgueldenstein wants to merge 4 commits into
mainfrom
fix/animation_kd_kp

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@jgueldenstein

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Summary

Currently there is no way of specifying the kp and kd values for an animation.
see #905

this pr changes that so that standing up may work more reliably and does not depend on the default kp and kd or previously set values in the hardware interface or in the simulation.

I have tested this in simulation and the robot does not fall anymore when starting motion standalone and it can reliably stand up from the front and back with the set values.

@jgueldenstein

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This still has to be tested on hardware. Also we need to re-check if the set kp for the falling animation is appropriate as the head may be too stiff when falling.

@jgueldenstein jgueldenstein moved this from 🆕 New to 👀 In review in Software Jun 8, 2026
@jgueldenstein

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build and test fails due to #900 as far as I can tell

@Flova

Flova commented Jun 9, 2026

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I think the falling was mostly related to 1 second being a very tight timing from t pose to walkready in the sim. I would prefer spawning it in a different pose, sitting down or similar to walkready. I think fixing this with the kp is not a good solution. Or did I miss something. Also the robot was capable of a reliable standup in sim a few days ago, so there might be a different regression if there are issues now. Currently the animations are played with relatively stiff params as tracking accuracy is important for static animations. That being said I think there are cases for e.g. falling animations where low kp can make sense.

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