increase protection current

src/lerobot/bi_teleoperate.py

@@ -9,7 +9,7 @@ from lerobot.robots.so101_follower_torque.so101_follower_t import SO101FollowerT
 from lerobot.utils.robot_utils import busy_wait
 from lerobot.utils.visualization_utils import _init_rerun, log_rerun_data
 
-FRQ = 100
+FRQ = 200
 PRINT_HZ = 10
 RERUN_HZ = 100
 ESC_CLR_EOL = "\x1b[K"

src/lerobot/robots/so101_follower_torque/so101_follower_t.py

@@ -335,10 +335,10 @@ class SO101FollowerT(Robot):
                     self.bus.write("Phase", motor, new_phase, normalize=False)
 
                 self.bus.write("Operating_Mode", motor, 2, num_retry=2)  # Set to current mode
-                self.bus.write("Target_Torque", motor, 0, num_retry=2)
                 self.bus.write("Torque_Limit", motor, 1000, num_retry=2)  # 100%
                 self.bus.write("Max_Torque_Limit", motor, 1000, num_retry=2)  # 100%
                 self.bus.write("Return_Delay_Time", motor, 0, num_retry=2)
+                self.bus.write("Protection_Current", motor, 1000, num_retry=2)
 
                 # Disable interfering protection systems for better torque response
                 # Read current unloading condition and disable current/overload protection