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Pepijn
2026-01-09 13:17:18 +01:00
parent 7d6f113072
commit 4428248a01
1 changed files with 1 additions and 1 deletions
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src/lerobot/robots/openarms/config_openarms_follower.py
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@@ -75,7 +75,7 @@ class OpenArmsFollowerConfig(RobotConfig):
# MIT control parameters for position control (used in send_action)
# List of 8 values: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7, gripper]
position_kp: list[float] = field(default_factory=lambda: [240.0, 240.0, 240.0, 240.0, 24.0, 31.0, 25.0, 25.0])
position_kd: list[float] = field(default_factory=lambda: [3.0, 3.0, 3.0, 3.0, 0.2, 0.2, 0.2, 0.2])
position_kd: list[float] = field(default_factory=lambda: [5.0, 5.0, 3.0, 5.0, 0.3, 0.3, 0.3, 0.3])
# Damping gains for stability when applying torque compensation (gravity/friction)
# Used when kp=0 and only torque is applied