From 43bc9404bb6cfb7af7bf15038d74762fef53b405 Mon Sep 17 00:00:00 2001 From: Simon Alibert Date: Thu, 20 Mar 2025 14:47:53 +0100 Subject: [PATCH] Remove motors from koch teleop config --- .../common/teleoperators/koch/configuration_koch.py | 10 ---------- lerobot/common/teleoperators/koch/teleop_koch.py | 12 ++++++------ 2 files changed, 6 insertions(+), 16 deletions(-) diff --git a/lerobot/common/teleoperators/koch/configuration_koch.py b/lerobot/common/teleoperators/koch/configuration_koch.py index 334c3134..2c6a2969 100644 --- a/lerobot/common/teleoperators/koch/configuration_koch.py +++ b/lerobot/common/teleoperators/koch/configuration_koch.py @@ -28,13 +28,3 @@ class KochTeleopConfig(TeleoperatorConfig): # Sets the arm in torque mode with the gripper motor set to this angle. This makes it possible # to squeeze the gripper and have it spring back to an open position on its own. gripper_open_degree: float = 35.156 - - mock: bool = False - - # motors - shoulder_pan: tuple = (1, "xl330-m077") - shoulder_lift: tuple = (2, "xl330-m077") - elbow_flex: tuple = (3, "xl330-m077") - wrist_flex: tuple = (4, "xl330-m077") - wrist_roll: tuple = (5, "xl330-m077") - gripper: tuple = (6, "xl330-m077") diff --git a/lerobot/common/teleoperators/koch/teleop_koch.py b/lerobot/common/teleoperators/koch/teleop_koch.py index 82393655..b394019a 100644 --- a/lerobot/common/teleoperators/koch/teleop_koch.py +++ b/lerobot/common/teleoperators/koch/teleop_koch.py @@ -49,12 +49,12 @@ class KochTeleop(Teleoperator): 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, "xl330-m077"), + "shoulder_lift": (2, "xl330-m077"), + "elbow_flex": (3, "xl330-m077"), + "wrist_flex": (4, "xl330-m077"), + "wrist_roll": (5, "xl330-m077"), + "gripper": (6, "xl330-m077"), }, )