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