From a855570097e6233b23dd42341d02c64f3ccc9267 Mon Sep 17 00:00:00 2001
From: charlie8612 <charlie88162@gmail.com>
Date: Tue, 28 Jul 2026 20:27:48 +0800
Subject: [PATCH] feat(motors): add XH540-W150, XC330-T288, XC330-T181 to
 Dynamixel tables (#3815)

Register three X-series Dynamixel models so they can be driven by
DynamixelMotorsBus: XH540-W150 (model 1110), XC330-T288 (1220) and
XC330-T181 (1210). All are standard Protocol 2.0 X-series motors that
share the existing X_SERIES control/baudrate/encoding tables and 4096
resolution; only the model number and operating-mode list are
model-specific. Values verified against the ROBOTIS e-manual.

These motors are used by the ROBOTIS OMY-L100 arm, among others.

Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
---
 src/lerobot/motors/dynamixel/tables.py | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/src/lerobot/motors/dynamixel/tables.py b/src/lerobot/motors/dynamixel/tables.py
index 5417d8cee..0bdcf3861 100644
--- a/src/lerobot/motors/dynamixel/tables.py
+++ b/src/lerobot/motors/dynamixel/tables.py
@@ -122,6 +122,9 @@ MODEL_ENCODING_TABLE = {
     "xm430-w350": X_SERIES_ENCODINGS_TABLE,
     "xm540-w270": X_SERIES_ENCODINGS_TABLE,
     "xc430-w150": X_SERIES_ENCODINGS_TABLE,
+    "xh540-w150": X_SERIES_ENCODINGS_TABLE,
+    "xc330-t288": X_SERIES_ENCODINGS_TABLE,
+    "xc330-t181": X_SERIES_ENCODINGS_TABLE,
 }
 
 # {model: model_resolution}
@@ -134,6 +137,9 @@ MODEL_RESOLUTION = {
     "xm430-w350": 4096,
     "xm540-w270": 4096,
     "xc430-w150": 4096,
+    "xh540-w150": 4096,
+    "xc330-t288": 4096,
+    "xc330-t181": 4096,
 }
 
 # {model: model_number}
@@ -145,6 +151,9 @@ MODEL_NUMBER_TABLE = {
     "xm430-w350": 1020,
     "xm540-w270": 1120,
     "xc430-w150": 1070,
+    "xh540-w150": 1110,
+    "xc330-t288": 1220,
+    "xc330-t181": 1210,
 }
 
 # {model: available_operating_modes}
@@ -156,6 +165,9 @@ MODEL_OPERATING_MODES = {
     "xm430-w350": [0, 1, 3, 4, 5, 16],
     "xm540-w270": [0, 1, 3, 4, 5, 16],
     "xc430-w150": [1, 3, 4, 16],
+    "xh540-w150": [0, 1, 3, 4, 5, 16],
+    "xc330-t288": [0, 1, 3, 4, 5, 16],
+    "xc330-t181": [0, 1, 3, 4, 5, 16],
 }
 
 MODEL_CONTROL_TABLE = {
@@ -166,6 +178,9 @@ MODEL_CONTROL_TABLE = {
     "xm430-w350": X_SERIES_CONTROL_TABLE,
     "xm540-w270": X_SERIES_CONTROL_TABLE,
     "xc430-w150": X_SERIES_CONTROL_TABLE,
+    "xh540-w150": X_SERIES_CONTROL_TABLE,
+    "xc330-t288": X_SERIES_CONTROL_TABLE,
+    "xc330-t181": X_SERIES_CONTROL_TABLE,
 }
 
 MODEL_BAUDRATE_TABLE = {
@@ -176,6 +191,9 @@ MODEL_BAUDRATE_TABLE = {
     "xm430-w350": X_SERIES_BAUDRATE_TABLE,
     "xm540-w270": X_SERIES_BAUDRATE_TABLE,
     "xc430-w150": X_SERIES_BAUDRATE_TABLE,
+    "xh540-w150": X_SERIES_BAUDRATE_TABLE,
+    "xc330-t288": X_SERIES_BAUDRATE_TABLE,
+    "xc330-t181": X_SERIES_BAUDRATE_TABLE,
 }
 
 AVAILABLE_BAUDRATES = [