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chore(dynamixel): protocol polish (int default, logging, AX note)

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Make the PROTOCOL_VERSION default an int, replace the stray print with a
debug log, and document why AX-series is absent from MODEL_OPERATING_MODES.
This commit is contained in:
CarolinePascal
2026-07-05 17:16:49 +02:00
parent 3b7f7cfb22
commit 642c368210
2 changed files with 4 additions and 2 deletions
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src/lerobot/motors/dynamixel/dynamixel.py
+2 -2
View File
@@ -47,7 +47,7 @@ if TYPE_CHECKING or _dynamixel_sdk_available:
else: else:
dxl = None dxl = None
PROTOCOL_VERSION = 2.0 PROTOCOL_VERSION = 2
DEFAULT_BAUDRATE = 1_000_000 DEFAULT_BAUDRATE = 1_000_000
DEFAULT_TIMEOUT_MS = 1000 DEFAULT_TIMEOUT_MS = 1000
@@ -127,7 +127,7 @@ class DynamixelMotorsBus(SerialMotorsBus):
self._assert_same_protocol() self._assert_same_protocol()
self.port_handler = dxl.PortHandler(self.port) self.port_handler = dxl.PortHandler(self.port)
self.packet_handler = dxl.PacketHandler(protocol_version) self.packet_handler = dxl.PacketHandler(protocol_version)
print(f"Using protocol version {protocol_version}") logger.debug(f"Using protocol version {protocol_version}")
self.sync_reader = dxl.GroupSyncRead(self.port_handler, self.packet_handler, 0, 0) self.sync_reader = dxl.GroupSyncRead(self.port_handler, self.packet_handler, 0, 0)
self.sync_writer = dxl.GroupSyncWrite(self.port_handler, self.packet_handler, 0, 0) self.sync_writer = dxl.GroupSyncWrite(self.port_handler, self.packet_handler, 0, 0)
self._comm_success = dxl.COMM_SUCCESS self._comm_success = dxl.COMM_SUCCESS
src/lerobot/motors/dynamixel/tables.py
+2
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@@ -215,6 +215,8 @@ MODEL_NUMBER_TABLE = {
# {model: available_operating_modes} # {model: available_operating_modes}
# https://emanual.robotis.com/docs/en/dxl/x/{MODEL}/#operating-mode11 # https://emanual.robotis.com/docs/en/dxl/x/{MODEL}/#operating-mode11
# Note: AX-series (Protocol 1.0) has no Operating_Mode register; joint vs wheel mode is
# selected via the CW/CCW angle limits, so it is intentionally absent from this table.
MODEL_OPERATING_MODES = { MODEL_OPERATING_MODES = {
"xl330-m077": [0, 1, 3, 4, 5, 16], "xl330-m077": [0, 1, 3, 4, 5, 16],
"xl330-m288": [0, 1, 3, 4, 5, 16], "xl330-m288": [0, 1, 3, 4, 5, 16],