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OpenArm MIT control gains guide
How OpenArm teams should think about MIT control gains, safety margins, iteration discipline, and tuning notes that remain usable across sessions.
Gain tuning is not just about reaching a stable number. It is about creating repeatable notes that survive new tools, payload changes, and future debugging.
Tuning discipline
- Change one thing at a timeBundled changes make it hard to know what improved or regressed.
- Preserve safety marginsAggressive gains without recovery notes are not progress.
- Log contextRecord tool, payload, loop rate, and observed oscillation or lag.
Search intent
- OpenArm MIT control gains
- OpenArm tuning notes
- OpenArm joint oscillation debugging
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