admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-06-18 16:57:12 +00:00
Code Issues Packages Projects Releases Wiki Activity

tune

Browse Source
This commit is contained in:
Pepijn
2025-07-11 13:39:54 +02:00
parent fbf5f04545
commit e925ef3f18
1 changed files with 8 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lerobot/robots/so101_follower_torque/so101_follower_t.py
+8 -8
View File
@@ -52,12 +52,12 @@ class SO101FollowerT(Robot):
# Control gains for bilateral teleoperation
_KP_GAINS = { # Position gains [Nm/rad] - reduced for bilateral stability
"shoulder_pan": 5.0,
"shoulder_pan": 6.0,
"shoulder_lift": 7.0,
"elbow_flex": 7.0,
"wrist_flex": 4.0,
"wrist_roll": 3.0,
"gripper": 3.0,
"wrist_flex": 5.0,
"wrist_roll": 4.0,
"gripper": 4.0,
}
_KD_GAINS = { # Velocity gains [Nm⋅s/rad] - matched to position gains
@@ -80,12 +80,12 @@ class SO101FollowerT(Robot):
}
_FRICTION_COULOMB = { # Coulomb friction [Nm] per joint
"shoulder_pan": 0.05,
"shoulder_pan": 0.15,
"shoulder_lift": 0.25,
"elbow_flex": 0.20,
"wrist_flex": 0.15,
"wrist_roll": 0.06,
"gripper": 0.04,
"wrist_flex": 0.20,
"wrist_roll": 0.15,
"gripper": 0.15,
}
def __init__(self, config: SO101FollowerTConfig):