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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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10
lerobot/common/robots/koch/configuration_koch.py
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@@ -16,15 +16,5 @@ class KochRobotConfig(RobotConfig):
# the number of motors in your follower arms. # the number of motors in your follower arms.
max_relative_target: int | None = None 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
cameras: dict[str, CameraConfig] = field(default_factory=dict) cameras: dict[str, CameraConfig] = field(default_factory=dict)

12
lerobot/common/robots/koch/robot_koch.py
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@@ -54,12 +54,12 @@ class KochRobot(Robot):
self.arm = DynamixelMotorsBus( self.arm = DynamixelMotorsBus(
port=self.config.port, port=self.config.port,
motors={ motors={
"shoulder_pan": config.shoulder_pan, "shoulder_pan": (1, "xl430-w250"),
"shoulder_lift": config.shoulder_lift, "shoulder_lift": (2, "xl430-w250"),
"elbow_flex": config.elbow_flex, "elbow_flex": (3, "xl330-m288"),
"wrist_flex": config.wrist_flex, "wrist_flex": (4, "xl330-m288"),
"wrist_roll": config.wrist_roll, "wrist_roll": (5, "xl330-m288"),
"gripper": config.gripper, "gripper": (6, "xl330-m288"),
}, },
) )
self.cameras = make_cameras_from_configs(config.cameras) self.cameras = make_cameras_from_configs(config.cameras)