From a3feadbbfb9b21ff34a42bd5bfcb7308334cfdf4 Mon Sep 17 00:00:00 2001 From: Pepijn Date: Tue, 8 Jul 2025 15:26:13 +0200 Subject: [PATCH] Increase max torque limit --- src/lerobot/robots/so101_follower_torque/so101_follower_t.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/lerobot/robots/so101_follower_torque/so101_follower_t.py b/src/lerobot/robots/so101_follower_torque/so101_follower_t.py index 916eb9889..67872dcc4 100644 --- a/src/lerobot/robots/so101_follower_torque/so101_follower_t.py +++ b/src/lerobot/robots/so101_follower_torque/so101_follower_t.py @@ -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 _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 _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("Target_Torque", motor, 0, num_retry=2) 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) # Disable interfering protection systems for better torque response