减小安全约束

examples/example_sin_leg.py

@@ -34,7 +34,10 @@ def main():
     p.add_argument('--amplitude', type=float, default=0.3, help='sin 振幅 (rad)')
     p.add_argument('--freq', type=float, default=0.5, help='sin 频率 (Hz)')
     p.add_argument('--duration', type=float, default=10)
-    p.add_argument('--power-factor', type=int, default=1)
+    p.add_argument('--power-factor', type=int, default=3,
+                   help='PowerProtect 1-10 (默认 3 = 30%% 力矩, factor=1 太严容易拉不动)')
+    p.add_argument('--pos-protect', type=float, default=None,
+                   help='软位置保护阈值 rad (默认 None=关闭. sin 振幅过大会误触发)')
     args = p.parse_args()
     signal.signal(signal.SIGINT, sigint)
 
@@ -86,7 +89,7 @@ def main():
 
                 try:
                     apply_safety(cmd, state, power_factor=args.power_factor,
-                                 position_protect_limit=0.5)
+                                 position_protect_limit=args.pos_protect)
                 except PowerProtectViolation as e:
                     print(f'⚠️ {e}')
                     break