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modify gains

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Pepijn
2025-07-04 14:36:37 +02:00
parent 043b720505
commit a4d46d4adb
1 changed files with 2 additions and 2 deletions
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src/lerobot/bi_teleoperate.py
+2 -2
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@@ -87,9 +87,9 @@ while True:
inertia_f = follower._inertia_from_q_dq(pos_f, vel_f, acc_f) inertia_f = follower._inertia_from_q_dq(pos_f, vel_f, acc_f)
inertia_l = leader._inertia_from_q_dq(pos_l, vel_l, acc_l) inertia_l = leader._inertia_from_q_dq(pos_l, vel_l, acc_l)
Kp = 8.0 # Position gain Kp = 5.0 # Position gain
Kd = 0.1 # Velocity gain Kd = 0.1 # Velocity gain
Kf = 0.1 # Force reflection gain Kf = 0.05 # Force reflection gain
for j in follower.bus.motors: for j in follower.bus.motors:
# Bilateral control references (eqs. 5-7) # Bilateral control references (eqs. 5-7)