From 08d634ebe0d7b9576f2a17723c4e3def53d706a7 Mon Sep 17 00:00:00 2001 From: Ilia Larchenko <41329713+IliaLarchenko@users.noreply.github.com> Date: Mon, 25 Aug 2025 19:59:19 +0700 Subject: [PATCH] Fixed a small wrist flex calibration issue for lekiwi wrist_flex is not full_turn_motor (it has only a 180-degree range) and should be calibrated like in so_100, only wrist_roll is a full turn motor Signed-off-by: Ilia Larchenko <41329713+IliaLarchenko@users.noreply.github.com> --- src/lerobot/robots/lekiwi/lekiwi.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lerobot/robots/lekiwi/lekiwi.py b/src/lerobot/robots/lekiwi/lekiwi.py index 7004cc0fed..f6003488f6 100644 --- a/src/lerobot/robots/lekiwi/lekiwi.py +++ b/src/lerobot/robots/lekiwi/lekiwi.py @@ -153,7 +153,7 @@ def calibrate(self) -> None: homing_offsets.update(dict.fromkeys(self.base_motors, 0)) full_turn_motor = [ - motor for motor in motors if any(keyword in motor for keyword in ["wheel", "wrist"]) + motor for motor in motors if any(keyword in motor for keyword in ["wheel", "wrist_roll"]) ] unknown_range_motors = [motor for motor in motors if motor not in full_turn_motor]