Essays only. No notes, no link shares.https://hitgavin.dev/https://hitgavin.dev/posts/gravity-and-joint-pid/https://hitgavin.dev/posts/gravity-and-joint-pid/Posture changes the gravity torque on a humanoid shoulder by 16 N·m and the stability margin by 0.018°. Here is why that is exact rather than approximate — and the one place gravity does bite.Wed, 14 Oct 2026 00:00:00 GMT