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>
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Summary
Replace the pass-through USD actuator configuration with system-identified gains from the
galbot-one-golf-sim2real-v1profile (synthnova/src/synthnova/robots/cfg/galbot_one_golf.toml) and enable gravity compensation.Changes
robolab/robots/galbot_golf.pyGravity compensation — added
disable_gravity=TruetoRigidBodyPropertiesCfg, matching the real robot's controller-side gravity compensation and consistent with RoboLab'sfranka_high_pdconvention.Actuator gains — replaced
stiffness=None / damping=None(inherit USD values) with Sim2Real system-identified parameters. Left/right arm values are symmetrised and rounded to integers. The previous arms/legs/head groups are refined into tiers that match the hardware torque ratings:legsheadarm_shoulderarm_elbowarm_wristgripperswheelstests/test_galbot_configs.pyTwo new contract tests:
test_gravity_compensation_is_enabled— assertsdisable_gravity is Truetest_actuator_gains_match_sim2real_profile— spot-checks stiffness, damping, and effort limits for shoulder / elbow / wrist / grippers🤖 Generated with Claude Code