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Merge branch 'main' into add-libero

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This commit is contained in:
Jade Choghari
2025-09-02 13:06:24 +03:00
committed by GitHub
parent b397a757bb 882c80d446
commit a36e4619ad
2 changed files with 12 additions and 0 deletions
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src/lerobot/robots/so100_follower/so100_follower.py
+5
View File
@@ -161,6 +161,11 @@ class SO100Follower(Robot):
self.bus.write("I_Coefficient", motor, 0)
self.bus.write("D_Coefficient", motor, 32)
if motor == "gripper":
self.bus.write("Max_Torque_Limit", motor, 500) # 50% of max torque to avoid burnout
self.bus.write("Protection_Current", motor, 250) # 50% of max current to avoid burnout
self.bus.write("Overload_Torque", motor, 25) # 25% torque when overloaded
def setup_motors(self) -> None:
for motor in reversed(self.bus.motors):
input(f"Connect the controller board to the '{motor}' motor only and press enter.")
src/lerobot/robots/so101_follower/so101_follower.py
+7
View File
@@ -157,6 +157,13 @@ class SO101Follower(Robot):
self.bus.write("I_Coefficient", motor, 0)
self.bus.write("D_Coefficient", motor, 32)
if motor == "gripper":
self.bus.write(
"Max_Torque_Limit", motor, 500
) # 50% of the max torque limit to avoid burnout
self.bus.write("Protection_Current", motor, 250) # 50% of max current to avoid burnout
self.bus.write("Overload_Torque", motor, 25) # 25% torque when overloaded
def setup_motors(self) -> None:
for motor in reversed(self.bus.motors):
input(f"Connect the controller board to the '{motor}' motor only and press enter.")