From d6f1359e69174c3d3ef537ab4c3c93b7407256f8 Mon Sep 17 00:00:00 2001 From: Simon Alibert Date: Wed, 12 Mar 2025 17:16:09 +0100 Subject: [PATCH] Remove motors from Koch config --- lerobot/common/robots/koch/configuration_koch.py | 10 ---------- lerobot/common/robots/koch/robot_koch.py | 12 ++++++------ 2 files changed, 6 insertions(+), 16 deletions(-) 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)