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2 fixes

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This commit is contained in:
Remi Cadene
2024-09-17 18:35:32 +02:00
parent 9d23d04691
commit 2826c226d2
2 changed files with 4 additions and 3 deletions
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6
lerobot/common/robot_devices/motors/feetech.py
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@@ -100,9 +100,9 @@ SCS_SERIES_BAUDRATE_TABLE = {
2: 250_000, 2: 250_000,
3: 128_000, 3: 128_000,
4: 115_200, 4: 115_200,
# 5: 76_800, 5: 57_600,
# 6: 57_600, 6: 38_400,
# 7: 38_400, 7: 19_200,
} }
CALIBRATION_REQUIRED = ["Goal_Position", "Present_Position"] CALIBRATION_REQUIRED = ["Goal_Position", "Present_Position"]

1
lerobot/common/robot_devices/robots/manipulator.py
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@@ -364,6 +364,7 @@ class ManipulatorRobot:
for name in self.follower_arms: for name in self.follower_arms:
print(f"Connecting {name} follower arm.") print(f"Connecting {name} follower arm.")
self.follower_arms[name].connect() self.follower_arms[name].connect()
for name in self.leader_arms:
print(f"Connecting {name} leader arm.") print(f"Connecting {name} leader arm.")
self.leader_arms[name].connect() self.leader_arms[name].connect()