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Kp/Kd gains for a single joint at ~100 Hz using sinusoidal tracking or step-response, and prints error statistics.
| Flag | Description |
|---|---|
--l / --r | Arm side (required) |
--joint JOINT | shoulder_1, shoulder_2, shoulder_3, elbow, wrist_1, wrist_2, wrist_3 (required) |
--kp FLOAT | Proportional gain (required) |
--kd FLOAT | Derivative gain (required) |
--tff | Apply full feedforward (gravity + friction) |
--mode {sine,step} | sine = sinusoidal tracking (default); step = step response |
--amp FLOAT | Motion amplitude in rad (default: auto safe value) |
--freq FLOAT | [sine] Frequency in Hz (default: 1.0) |
--duration FLOAT | [sine] Duration in seconds (default: 5.0) |
--hold FLOAT | [step] Hold time per phase in seconds (default: 2.0) |
--rate FLOAT | Command rate in Hz (default: 100.0) |