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fix(lekiwi): fix calibration issue

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Steven Palma 2025-03-18 17:48:58 +01:00
parent 254a9a8916
commit a47ae50b49
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1 changed files with 2 additions and 0 deletions
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lerobot/common/robots/lekiwi/lekiwi_robot.py
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@ -30,6 +30,7 @@ from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnecte
from lerobot.common.motors.feetech import ( from lerobot.common.motors.feetech import (
FeetechMotorsBus, FeetechMotorsBus,
TorqueMode, TorqueMode,
apply_feetech_offsets_from_calibration,
run_full_arm_calibration, run_full_arm_calibration,
) )
@ -202,6 +203,7 @@ class LeKiwiRobot(Robot):
json.dump(calibration, f) json.dump(calibration, f)
self.actuators_bus.set_calibration(calibration) self.actuators_bus.set_calibration(calibration)
apply_feetech_offsets_from_calibration(self.actuators_bus, calibration)
# TODO(Steven): Should this be dict[str, Any] ? # TODO(Steven): Should this be dict[str, Any] ?
def get_observation(self) -> dict[str, np.ndarray]: def get_observation(self) -> dict[str, np.ndarray]: