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feat(motors): add XH540-W150, XC330-T288, XC330-T181 to Dynamixel tables (#3815)

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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>
This commit is contained in:
charlie8612
2026-07-28 20:27:48 +08:00
committed by GitHub
parent 167e22ba51
commit a855570097
1 changed files with 18 additions and 0 deletions
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src/lerobot/motors/dynamixel/tables.py
+18
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@@ -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 = [