Restore standing return Kp ramp floors

Author: BotRunner64

teleopit/configs/high_level_policy_sim2real.yaml

@@ -9,7 +9,6 @@ input:
 
 # Smooth an explicit return from POLICY to STANDING.
 standing_return_ramp_duration: 2.0
-standing_return_kp_ramp_floor_ratio: 0.1
 
 camera:
   source: realsense  # realsense | test-pattern

teleopit/configs/pico4_sim2real.yaml

@@ -60,7 +60,7 @@ startup_ramp_duration: 2.0
 kp_ramp_floor_ratio: 0.1
 # Faster Kp ramp used when returning from MOCAP to default STANDING with X
 standing_return_ramp_duration: 0.5
-standing_return_kp_ramp_floor_ratio: 0.1
+standing_return_kp_ramp_floor_ratio: 0.5
 # Joint velocity safety limit (rad/s) -- trigger emergency damping if exceeded
 joint_vel_limit: 10.0