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Motors config & disconnect fixes

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This commit is contained in:
Simon Alibert
2025-04-15 11:20:42 +02:00
parent f71e224023
commit 9afc4b771c
5 changed files with 25 additions and 23 deletions
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lerobot/common/robots/so100/so100_follower.py
+1 -4
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@@ -55,6 +55,7 @@ class SO100Follower(Robot):
"wrist_roll": Motor(5, "sts3215", MotorNormMode.RANGE_M100_100),
"gripper": Motor(6, "sts3215", MotorNormMode.RANGE_0_100),
},
calibration=self.calibration,
)
self.cameras = make_cameras_from_configs(config.cameras)
@@ -152,10 +153,6 @@ class SO100Follower(Robot):
# Set I_Coefficient and D_Coefficient to default value 0 and 32
self.arm.write("I_Coefficient", name, 0)
self.arm.write("D_Coefficient", name, 32)
# Set Maximum_Acceleration to 254 to speedup acceleration and deceleration of
# the motors. Note: this address is not in the official STS3215 Memory Table
self.arm.write("Maximum_Acceleration", name, 254)
self.arm.write("Acceleration", name, 254)
self.arm.enable_torque()