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Increase max torque limit

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Pepijn
2025-07-08 15:26:13 +02:00
parent 25e22ea3ba
commit a3feadbbfb
1 changed files with 2 additions and 1 deletions
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src/lerobot/robots/so101_follower_torque/so101_follower_t.py
+2 -1
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@@ -47,7 +47,7 @@ class SO101FollowerT(Robot):
_CURRENT_STEP_A: float = 6.5e-3 # 6.5 mA per register LSB #http://doc.feetech.cn/#/prodinfodownload?srcType=FT-SMS-STS-emanual-229f4476422d4059abfb1cb0 _CURRENT_STEP_A: float = 6.5e-3 # 6.5 mA per register LSB #http://doc.feetech.cn/#/prodinfodownload?srcType=FT-SMS-STS-emanual-229f4476422d4059abfb1cb0
_KT_NM_PER_AMP: float = 0.814 # Torque constant Kt [N·m/A] #https://www.feetechrc.com/811177.html _KT_NM_PER_AMP: float = 0.814 # Torque constant Kt [N·m/A] #https://www.feetechrc.com/811177.html
_MAX_CURRENT_A: float = 2.0 # Safe driver limit for this model _MAX_CURRENT_A: float = 4.0 # Safe driver limit for this model
# Control gains for bilateral teleoperation # Control gains for bilateral teleoperation
_KP_GAINS = { # Position gains [Nm/rad] - higher for proximal joints _KP_GAINS = { # Position gains [Nm/rad] - higher for proximal joints
@@ -337,6 +337,7 @@ class SO101FollowerT(Robot):
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("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("Return_Delay_Time", motor, 0, num_retry=2) self.bus.write("Return_Delay_Time", motor, 0, num_retry=2)
# Disable interfering protection systems for better torque response # Disable interfering protection systems for better torque response