From a47ae50b493e0b0e74aac6531dd7142779d4ca8a Mon Sep 17 00:00:00 2001 From: Steven Palma Date: Tue, 18 Mar 2025 17:48:58 +0100 Subject: [PATCH] fix(lekiwi): fix calibration issue --- lerobot/common/robots/lekiwi/lekiwi_robot.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/lerobot/common/robots/lekiwi/lekiwi_robot.py b/lerobot/common/robots/lekiwi/lekiwi_robot.py index 22153b5f..1eb279fe 100644 --- a/lerobot/common/robots/lekiwi/lekiwi_robot.py +++ b/lerobot/common/robots/lekiwi/lekiwi_robot.py @@ -30,6 +30,7 @@ from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnecte from lerobot.common.motors.feetech import ( FeetechMotorsBus, TorqueMode, + apply_feetech_offsets_from_calibration, run_full_arm_calibration, ) @@ -202,6 +203,7 @@ class LeKiwiRobot(Robot): json.dump(calibration, f) self.actuators_bus.set_calibration(calibration) + apply_feetech_offsets_from_calibration(self.actuators_bus, calibration) # TODO(Steven): Should this be dict[str, Any] ? def get_observation(self) -> dict[str, np.ndarray]: