admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-07-24 18:26:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

increase protection current

Browse Source
This commit is contained in:
Pepijn
2025-07-08 15:51:15 +02:00
parent a3feadbbfb
commit 67d6bfee78
2 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lerobot/bi_teleoperate.py
+1 -1
View File
@@ -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.robot_utils import busy_wait
from lerobot.utils.visualization_utils import _init_rerun, log_rerun_data from lerobot.utils.visualization_utils import _init_rerun, log_rerun_data
FRQ = 100 FRQ = 200
PRINT_HZ = 10 PRINT_HZ = 10
RERUN_HZ = 100 RERUN_HZ = 100
ESC_CLR_EOL = "\x1b[K" ESC_CLR_EOL = "\x1b[K"
src/lerobot/robots/so101_follower_torque/so101_follower_t.py
+1 -1
View File
@@ -335,10 +335,10 @@ class SO101FollowerT(Robot):
self.bus.write("Phase", motor, new_phase, normalize=False) 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("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("Torque_Limit", motor, 1000, num_retry=2) # 100%
self.bus.write("Max_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("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 # Disable interfering protection systems for better torque response
# Read current unloading condition and disable current/overload protection # Read current unloading condition and disable current/overload protection