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Remove motors from koch teleop config

This commit is contained in:
Simon Alibert 2025-03-20 14:47:53 +01:00
parent 375499c323
commit 43bc9404bb
2 changed files with 6 additions and 16 deletions
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10
lerobot/common/teleoperators/koch/configuration_koch.py
View File

@ -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 # 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. # to squeeze the gripper and have it spring back to an open position on its own.
gripper_open_degree: float = 35.156 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")

12
lerobot/common/teleoperators/koch/teleop_koch.py
View File

@ -49,12 +49,12 @@ class KochTeleop(Teleoperator):
self.arm = DynamixelMotorsBus( self.arm = DynamixelMotorsBus(
port=self.config.port, port=self.config.port,
motors={ motors={
"shoulder_pan": config.shoulder_pan, "shoulder_pan": (1, "xl330-m077"),
"shoulder_lift": config.shoulder_lift, "shoulder_lift": (2, "xl330-m077"),
"elbow_flex": config.elbow_flex, "elbow_flex": (3, "xl330-m077"),
"wrist_flex": config.wrist_flex, "wrist_flex": (4, "xl330-m077"),
"wrist_roll": config.wrist_roll, "wrist_roll": (5, "xl330-m077"),
"gripper": config.gripper, "gripper": (6, "xl330-m077"),
}, },
) )