From 4428248a01c738ab679500f149ee6c5bf9e60353 Mon Sep 17 00:00:00 2001 From: Pepijn Date: Fri, 9 Jan 2026 13:17:18 +0100 Subject: [PATCH] Increase d --- src/lerobot/robots/openarms/config_openarms_follower.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lerobot/robots/openarms/config_openarms_follower.py b/src/lerobot/robots/openarms/config_openarms_follower.py index d1d858ee7..f1f034743 100644 --- a/src/lerobot/robots/openarms/config_openarms_follower.py +++ b/src/lerobot/robots/openarms/config_openarms_follower.py @@ -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