diff --git a/lerobot/common/robots/koch/configuration_koch.py b/lerobot/common/robots/koch/configuration_koch.py
index d6ec3da51..1f465e940 100644
--- a/lerobot/common/robots/koch/configuration_koch.py
+++ b/lerobot/common/robots/koch/configuration_koch.py
@@ -16,15 +16,5 @@ class KochRobotConfig(RobotConfig):
     # the number of motors in your follower arms.
     max_relative_target: int | None = None
 
-    mock: bool = False
-
-    # motors
-    shoulder_pan: tuple = (1, "xl430-w250")
-    shoulder_lift: tuple = (2, "xl430-w250")
-    elbow_flex: tuple = (3, "xl330-m288")
-    wrist_flex: tuple = (4, "xl330-m288")
-    wrist_roll: tuple = (5, "xl330-m288")
-    gripper: tuple = (6, "xl330-m288")
-
     # cameras
     cameras: dict[str, CameraConfig] = field(default_factory=dict)
diff --git a/lerobot/common/robots/koch/robot_koch.py b/lerobot/common/robots/koch/robot_koch.py
index 469953c2b..9cf471f62 100644
--- a/lerobot/common/robots/koch/robot_koch.py
+++ b/lerobot/common/robots/koch/robot_koch.py
@@ -54,12 +54,12 @@ class KochRobot(Robot):
         self.arm = DynamixelMotorsBus(
             port=self.config.port,
             motors={
-                "shoulder_pan": config.shoulder_pan,
-                "shoulder_lift": config.shoulder_lift,
-                "elbow_flex": config.elbow_flex,
-                "wrist_flex": config.wrist_flex,
-                "wrist_roll": config.wrist_roll,
-                "gripper": config.gripper,
+                "shoulder_pan": (1, "xl430-w250"),
+                "shoulder_lift": (2, "xl430-w250"),
+                "elbow_flex": (3, "xl330-m288"),
+                "wrist_flex": (4, "xl330-m288"),
+                "wrist_roll": (5, "xl330-m288"),
+                "gripper": (6, "xl330-m288"),
             },
         )
         self.cameras = make_cameras_from_configs(config.cameras)