docs: def set_calibration(self, enabled, imus):
          """Set calibration state for attached IMUs.
  
          Args:
              enabled (bool): True to apply calibration to IMU data (if available). 
              False to output uncalibrated data.
              imus (list): indicates which IMUs the calibration state should be set on. 
              Empty list or [0, 1, 2, 3, 4] will apply to all IMUs, [0, 1] only to 
              first 2 IMUs, etc. 
          """
          if len(imus) == 0:
              imus = list(range(MAX_IMUS))
  
          for i in imus:
              if i < 0 or i >= MAX_IMUS:
                  logger.warn('Invalid IMU index {} in set_calibration'.format(i))
                  continue
              self.imus[i]._use_calibration = enabled