Remove motors from koch teleop config

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")

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"),
             },
         )