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Fixed a small wrist flex calibration issue for lekiwi (#1787)

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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 <imstevenpmwork@ieee.org>
This commit is contained in:
Ilia Larchenko
2025-10-17 23:14:53 +07:00
committed by GitHub
parent da9c2e66f4
commit 79137f58d1
1 changed files with 1 additions and 1 deletions
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2
src/lerobot/robots/lekiwi/lekiwi.py
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@@ -153,7 +153,7 @@ class LeKiwi(Robot):
homing_offsets.update(dict.fromkeys(self.base_motors, 0)) homing_offsets.update(dict.fromkeys(self.base_motors, 0))
full_turn_motor = [ 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] unknown_range_motors = [motor for motor in motors if motor not in full_turn_motor]