From 1a6414b227841be4cc96e4e4d52355d695b02d26 Mon Sep 17 00:00:00 2001 From: Khalil Meftah Date: Mon, 29 Jun 2026 19:29:43 +0200 Subject: [PATCH] feat(robot): increase gripper velocity and torque for rebot arm --- .../robots/rebot_b601_follower/config_rebot_b601_follower.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lerobot/robots/rebot_b601_follower/config_rebot_b601_follower.py b/src/lerobot/robots/rebot_b601_follower/config_rebot_b601_follower.py index cef14ea43..88af07e59 100644 --- a/src/lerobot/robots/rebot_b601_follower/config_rebot_b601_follower.py +++ b/src/lerobot/robots/rebot_b601_follower/config_rebot_b601_follower.py @@ -67,7 +67,7 @@ class RebotB601FollowerConfig: # Max speed (deg/s) per joint for POS_VEL arms and FORCE_POS gripper (motor order). pos_vel_velocity: float | list[float] = field( - default_factory=lambda: [150.0, 150.0, 150.0, 150.0, 150.0, 150.0, 500.0] + default_factory=lambda: [150.0, 150.0, 150.0, 150.0, 150.0, 150.0, 900.0] ) # Arm control: "mit" or "pos_vel". @@ -81,7 +81,7 @@ class RebotB601FollowerConfig: gripper_control_mode: str = "force_pos" # FORCE_POS only: max grip force, in [0, 1]. - gripper_torque_ratio: float = 0.05 + gripper_torque_ratio: float = 0.07 # MIT only. gripper_mit_kp: float = 8.0