Simulator

Watch the tuner work. Pick a joint, change its inertia, friction and payload, choose how you want it to respond, and press Tune: the real pidtuna package runs in this tab on Pyodide and every motion it plays is drawn the moment it finishes. First it shakes the joint to identify it, then it sweeps the bandwidth up one step response at a time until a hold rings, then it refines gains and feed-forward against its acceptance gates, then it verifies the pick on motion no stage has seen. A tune takes 10 to 30 seconds.

The joints are the package's own demo joints (examples/robots.py), simulated by pidtuna.plants.servo_sim.ServoSim, the simulator the tuner's tests use. The tuner never reads the simulated truth: it only sees the motion it asks for. For the analytic start's numbers as you move the sliders, and the tuner's full log, see the Playground.