From 79137f58d1fb52d62fbf2a97351f308e968e9cc9 Mon Sep 17 00:00:00 2001 From: Ilia Larchenko <41329713+IliaLarchenko@users.noreply.github.com> Date: Fri, 17 Oct 2025 23:14:53 +0700 Subject: [PATCH] Fixed a small wrist flex calibration issue for lekiwi (#1787) 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> Co-authored-by: Steven Palma --- 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 357109cb0..86fe017d6 100644 --- a/src/lerobot/robots/lekiwi/lekiwi.py +++ b/src/lerobot/robots/lekiwi/lekiwi.py @@ -153,7 +153,7 @@ class LeKiwi(Robot): 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]