kp kv

[xiabanjijifenzi]

I'm running the script examples/rigid/control_franka.py. I modified the control gains kp (proportional gain) and kv (derivative gain), but after entering the interactive information access interface, I found that kp and kv haven't been updated to the values I set. Could you help me figure out why this is happening and how to fix it?
file:///home/zhx/%E5%9B%BE%E7%89%87/%E6%88%AA%E5%9B%BE/%E6%88%AA%E5%9B%BE%202025-10-27%2016-45-52.png

[xiabanjijifenzi]

[55155]

```

  print("control force:", franka.get_dofs_control_force(motors_dof_idx))
  print(franka.get_dofs_kp())
  print(franka.get_dofs_kv())

I also tried running it, and it seems to produce normal values. Which method did you use to print the values?

[xiabanjijifenzi]

I want to perform 🧑‍💻 Interactive Information Access and Debugging, i.e., import IPython; IPython.embed(). I found this in interactive information.But the two of them produce different outputs, which makes me a bit confused.

[xiabanjijifenzi]

[55155]

Can I see the full code?

[xiabanjijifenzi]

Of course, after running the following code, enter "franka" in the terminal and you can view the 'dofs_kp' and 'dofs_kv' of each joint.
`import numpy as np
import genesis as gs
gs.init(backend=gs.gpu)
scene = gs.Scene(
viewer_options = gs.options.ViewerOptions(
camera_pos = (0, -3.5, 2.5),
camera_lookat = (0.0, 0.0, 0.5),
camera_fov = 30,
res = (960, 640),
max_FPS = 60,
),
sim_options = gs.options.SimOptions(
dt = 0.01,
),
show_viewer = True,
)
plane = scene.add_entity(
gs.morphs.Plane(),
)
franka = scene.add_entity(
gs.morphs.MJCF(
file = 'xml/franka_emika_panda/panda.xml',
),
)
scene.build()
jnt_names = [
'joint1',
'joint2',
'joint3',
'joint4',
'joint5',
'joint6',
'joint7',
'finger_joint1',
'finger_joint2',
]
dofs_idx = [franka.get_joint(name).dof_idx_local for name in jnt_names]
franka.set_dofs_kp(
kp = np.array([4800, 4500, 3500, 3500, 2000, 2000, 2000, 100, 1000]),
dofs_idx_local = dofs_idx,
)
franka.set_dofs_kv(
kv = np.array([480, 450, 350, 350, 200, 200, 200, 10, 100]),
dofs_idx_local = dofs_idx,
)
import IPython; IPython.embed()

`