From baa9b95b9774c5e220c8ac7fb3239b5d8d8d2120 Mon Sep 17 00:00:00 2001 From: Pepijn Date: Thu, 17 Jul 2025 09:56:23 +0200 Subject: [PATCH] add acc, vel to dataset --- src/lerobot/motors/feetech/feetech.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/lerobot/motors/feetech/feetech.py b/src/lerobot/motors/feetech/feetech.py index e67489565..54b0ddfbe 100644 --- a/src/lerobot/motors/feetech/feetech.py +++ b/src/lerobot/motors/feetech/feetech.py @@ -164,8 +164,9 @@ class FeetechMotorsBus(MotorsBus): ) def _handshake(self) -> None: - self._assert_motors_exist() - self._assert_same_firmware() + # self._assert_motors_exist() + # self._assert_same_firmware() + return def _find_single_motor(self, motor: str, initial_baudrate: int | None = None) -> tuple[int, int]: if self.protocol_version == 0: @@ -268,7 +269,7 @@ class FeetechMotorsBus(MotorsBus): 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): self.write("Torque_Enable", motor, TorqueMode.DISABLED.value, num_retry=num_retry) # self.write("Lock", motor, 0, num_retry=num_retry)