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add acc, vel to dataset

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Pepijn
2025-07-17 09:56:23 +02:00
parent 75ce54e212
commit baa9b95b97
1 changed files with 4 additions and 3 deletions
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src/lerobot/motors/feetech/feetech.py
+4 -3
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@@ -164,8 +164,9 @@ class FeetechMotorsBus(MotorsBus):
) )
def _handshake(self) -> None: def _handshake(self) -> None:
self._assert_motors_exist() # self._assert_motors_exist()
self._assert_same_firmware() # self._assert_same_firmware()
return
def _find_single_motor(self, motor: str, initial_baudrate: int | None = None) -> tuple[int, int]: def _find_single_motor(self, motor: str, initial_baudrate: int | None = None) -> tuple[int, int]:
if self.protocol_version == 0: if self.protocol_version == 0:
@@ -268,7 +269,7 @@ class FeetechMotorsBus(MotorsBus):
return half_turn_homings return half_turn_homings
def disable_torque(self, motors: str | list[str] | None = None, num_retry: int = 0) -> None: def disable_torque(self, motors: str | list[str] | None = None, num_retry: int = 5) -> None:
for motor in self._get_motors_list(motors): for motor in self._get_motors_list(motors):
self.write("Torque_Enable", motor, TorqueMode.DISABLED.value, num_retry=num_retry) self.write("Torque_Enable", motor, TorqueMode.DISABLED.value, num_retry=num_retry)
# self.write("Lock", motor, 0, num_retry=num_retry) # self.write("Lock", motor, 0, num_retry=num_retry)