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Remove motors from Koch config

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This commit is contained in:
Simon Alibert
2025-03-12 17:16:09 +01:00
parent 2357d4aceb
commit d6f1359e69
2 changed files with 6 additions and 16 deletions
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12
lerobot/common/robots/koch/robot_koch.py
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@@ -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)