From f75c9dbddaf14ca13c754d309fd661200a9e7561 Mon Sep 17 00:00:00 2001
From: Steven Palma <steven.palma@huggingface.co>
Date: Mon, 17 Mar 2025 18:03:32 +0100
Subject: [PATCH] fix(lekiwi): HW fixes v0.3

---
 lerobot/common/robots/lekiwi/lekiwi_robot.py              | 4 ++--
 lerobot/common/teleoperators/so100/configuration_so100.py | 1 +
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/lerobot/common/robots/lekiwi/lekiwi_robot.py b/lerobot/common/robots/lekiwi/lekiwi_robot.py
index ed0e7af4..79388a12 100644
--- a/lerobot/common/robots/lekiwi/lekiwi_robot.py
+++ b/lerobot/common/robots/lekiwi/lekiwi_robot.py
@@ -134,7 +134,7 @@ class LeKiwiRobot(Robot):
         # We assume that at connection time, arm is in a rest position,
         # and torque can be safely disabled to run calibration.
         self.actuators_bus.write("Torque_Enable", TorqueMode.DISABLED.value, self.arm_actuators)
-        # self.calibrate()  # TODO(Steven): This should be only for the arm
+        self.calibrate()  # TODO(Steven): This should be only for the arm
 
         # Mode=0 for Position Control
         self.actuators_bus.write("Mode", 0, self.arm_actuators)
@@ -347,7 +347,7 @@ class LeKiwiRobot(Robot):
         self.actuators_bus.disconnect()
         for cam in self.cameras.values():
             cam.disconnect()
-        self.observation_socket.close()
+        self.zmq_observation_socket.close()
         self.zmq_cmd_socket.close()
         self.context.term()
         self.is_connected = False
diff --git a/lerobot/common/teleoperators/so100/configuration_so100.py b/lerobot/common/teleoperators/so100/configuration_so100.py
index a6a807e4..433af75e 100644
--- a/lerobot/common/teleoperators/so100/configuration_so100.py
+++ b/lerobot/common/teleoperators/so100/configuration_so100.py
@@ -24,3 +24,4 @@ from ..config import TeleoperatorConfig
 class SO100TeleopConfig(TeleoperatorConfig):
     # Port to connect to the teloperator
     port: str
+    id = "so100"