Merge branch 'user/rcadene/2024_09_04_feetech' of github.com:huggingface/lerobot into user/rcadene/2024_09_04_feetech

lerobot/common/robot_devices/motors/feetech.py

@@ -100,9 +100,9 @@ SCS_SERIES_BAUDRATE_TABLE = {
     2: 250_000,
     3: 128_000,
     4: 115_200,
-    # 5: 76_800,
-    # 6: 57_600,
-    # 7: 38_400,
+    5: 57_600,
+    6: 38_400,
+    7: 19_200,
 }
 
 CALIBRATION_REQUIRED = ["Goal_Position", "Present_Position"]

lerobot/common/robot_devices/robots/manipulator.py

@@ -10,7 +10,7 @@ import numpy as np
 import torch
 
 from lerobot.common.robot_devices.cameras.utils import Camera
-from lerobot.common.robot_devices.motors.dynamixel import (
+from lerobot.common.robot_devices.motors.feetech import (
     CalibrationMode,
     TorqueMode,
     convert_degrees_to_steps,
@@ -364,6 +364,7 @@ class ManipulatorRobot:
         for name in self.follower_arms:
             print(f"Connecting {name} follower arm.")
             self.follower_arms[name].connect()
+        for name in self.leader_arms:
             print(f"Connecting {name} leader arm.")
             self.leader_arms[name].connect()