revert to default koch

huggingface · Oct 25, 2024 · 10c8c8a · 10c8c8a
1 parent e60da8b
commit 10c8c8a
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/lerobot/common/robot_devices/robots/manipulator.py b/lerobot/common/robot_devices/robots/manipulator.py
@@ -51,7 +51,7 @@ class ManipulatorRobotConfig:
     """
 
     # Define all components of the robot
-    robot_type: str | None = None
+    robot_type: str = "koch"
     leader_arms: dict[str, MotorsBus] = field(default_factory=lambda: {})
     follower_arms: dict[str, MotorsBus] = field(default_factory=lambda: {})
     cameras: dict[str, Camera] = field(default_factory=lambda: {})
@@ -81,7 +81,7 @@ def __setattr__(self, prop: str, val):
         super().__setattr__(prop, val)
 
     def __post_init__(self):
-        if self.robot_type is None or self.robot_type not in ["koch", "aloha", "so100", "moss"]:
+        if self.robot_type not in ["koch", "aloha", "so100", "moss"]:
             raise ValueError(f"Provided robot type ({self.robot_type}) is not supported.")