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Safer turn off smoothly #456

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merged 1 commit into from
Nov 25, 2024
Merged

Safer turn off smoothly #456

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5 changes: 3 additions & 2 deletions src/reachy2_sdk/reachy_sdk.py
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Original file line number Diff line number Diff line change
Expand Up @@ -529,7 +529,8 @@ def turn_off_smoothly(self) -> bool:
self._logger.warning("Cannot turn off Reachy, not connected.")
return False
speed_limit_high = 25
torque_limit_low = 35
# Enough to sustain the arm weight
torque_limit_low = 50
torque_limit_high = 100
duration = 3
arms_list = []
Expand All @@ -548,7 +549,7 @@ def turn_off_smoothly(self) -> bool:
countingTime = 0
while countingTime < duration:
time.sleep(1)
torque_limit_low -= 10
torque_limit_low -= 15
for arm_part in arms_list:
arm_part.set_torque_limits(torque_limit_low)
countingTime += 1
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