From 882c80d446a63a44868c67ae535467af32ce0e80 Mon Sep 17 00:00:00 2001
From: Pepijn <138571049+pkooij@users.noreply.github.com>
Date: Fri, 29 Aug 2025 16:06:55 +0200
Subject: [PATCH] Lower limits by 50% for current and torque for gripper motor
 (#1809)

Signed-off-by: Pepijn <138571049+pkooij@users.noreply.github.com>
---
 src/lerobot/robots/so100_follower/so100_follower.py | 5 +++++
 src/lerobot/robots/so101_follower/so101_follower.py | 7 +++++++
 2 files changed, 12 insertions(+)

diff --git a/src/lerobot/robots/so100_follower/so100_follower.py b/src/lerobot/robots/so100_follower/so100_follower.py
index ac52293f..1e117e80 100644
--- a/src/lerobot/robots/so100_follower/so100_follower.py
+++ b/src/lerobot/robots/so100_follower/so100_follower.py
@@ -161,6 +161,11 @@ class SO100Follower(Robot):
                 self.bus.write("I_Coefficient", motor, 0)
                 self.bus.write("D_Coefficient", motor, 32)
 
+                if motor == "gripper":
+                    self.bus.write("Max_Torque_Limit", motor, 500)  # 50% of max torque to avoid burnout
+                    self.bus.write("Protection_Current", motor, 250)  # 50% of max current to avoid burnout
+                    self.bus.write("Overload_Torque", motor, 25)  # 25% torque when overloaded
+
     def setup_motors(self) -> None:
         for motor in reversed(self.bus.motors):
             input(f"Connect the controller board to the '{motor}' motor only and press enter.")
diff --git a/src/lerobot/robots/so101_follower/so101_follower.py b/src/lerobot/robots/so101_follower/so101_follower.py
index 3ef66d70..31b06c2f 100644
--- a/src/lerobot/robots/so101_follower/so101_follower.py
+++ b/src/lerobot/robots/so101_follower/so101_follower.py
@@ -157,6 +157,13 @@ class SO101Follower(Robot):
                 self.bus.write("I_Coefficient", motor, 0)
                 self.bus.write("D_Coefficient", motor, 32)
 
+                if motor == "gripper":
+                    self.bus.write(
+                        "Max_Torque_Limit", motor, 500
+                    )  # 50% of the max torque limit to avoid burnout
+                    self.bus.write("Protection_Current", motor, 250)  # 50% of max current to avoid burnout
+                    self.bus.write("Overload_Torque", motor, 25)  # 25% torque when overloaded
+
     def setup_motors(self) -> None:
         for motor in reversed(self.bus.motors):
             input(f"Connect the controller board to the '{motor}' motor only and press enter.")