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feat(robot): increase gripper velocity and torque for rebot arm

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This commit is contained in:
Khalil Meftah
2026-06-29 19:29:43 +02:00
parent 9ef4481e5b
commit 1a6414b227
1 changed files with 2 additions and 2 deletions
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src/lerobot/robots/rebot_b601_follower/config_rebot_b601_follower.py
+2 -2
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@@ -67,7 +67,7 @@ class RebotB601FollowerConfig:
# Max speed (deg/s) per joint for POS_VEL arms and FORCE_POS gripper (motor order). # Max speed (deg/s) per joint for POS_VEL arms and FORCE_POS gripper (motor order).
pos_vel_velocity: float | list[float] = field( 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". # Arm control: "mit" or "pos_vel".
@@ -81,7 +81,7 @@ class RebotB601FollowerConfig:
gripper_control_mode: str = "force_pos" gripper_control_mode: str = "force_pos"
# FORCE_POS only: max grip force, in [0, 1]. # FORCE_POS only: max grip force, in [0, 1].
gripper_torque_ratio: float = 0.05 gripper_torque_ratio: float = 0.07
# MIT only. # MIT only.
gripper_mit_kp: float = 8.0 gripper_mit_kp: float = 8.0