From 7de130e555b47f435948f17eb42254dbbe200b46 Mon Sep 17 00:00:00 2001
From: "Yunjai, Lee" <leeyunjai@circul.us>
Date: Wed, 26 Nov 2025 20:09:22 +0900
Subject: [PATCH] Initialize ChannelFactory in LocoClientWrapper

using --input-mode=controller, error
---
 teleop/utils/motion_switcher.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/teleop/utils/motion_switcher.py b/teleop/utils/motion_switcher.py
index 3a4d6bf..81dde9a 100644
--- a/teleop/utils/motion_switcher.py
+++ b/teleop/utils/motion_switcher.py
@@ -33,6 +33,7 @@ class MotionSwitcher:
 
 class LocoClientWrapper:
     def __init__(self):
+        ChannelFactoryInitialize(0)
         self.client = LocoClient()
         self.client.SetTimeout(0.0001)
         self.client.Init()
@@ -51,4 +52,4 @@ if __name__ == '__main__':
     time.sleep(5)
     status, result = ms.Exit_Debug_Mode()
     print("Exit debug mode:", status, result)
-    time.sleep(2)
\ No newline at end of file
+    time.sleep(2)