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This commit is contained in:
Remi Cadene 2024-07-10 20:01:29 +02:00
parent 7560372404
commit 5d092b1be2
1 changed files with 1 additions and 3 deletions
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4
lerobot/common/robot_devices/motors/dynamixel.py
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@ -87,8 +87,6 @@ X_SERIES_CONTROL_TABLE = {
CALIBRATION_REQUIRED = ["Goal_Position", "Present_Position"] CALIBRATION_REQUIRED = ["Goal_Position", "Present_Position"]
CONVERT_UINT32_TO_INT32_REQUIRED = ["Goal_Position", "Present_Position"] CONVERT_UINT32_TO_INT32_REQUIRED = ["Goal_Position", "Present_Position"]
# CONVERT_POSITION_TO_ANGLE_REQUIRED = ["Goal_Position", "Present_Position"]
CONVERT_POSITION_TO_ANGLE_REQUIRED = []
MODEL_CONTROL_TABLE = { MODEL_CONTROL_TABLE = {
"x_series": X_SERIES_CONTROL_TABLE, "x_series": X_SERIES_CONTROL_TABLE,
@ -421,7 +419,7 @@ class DynamixelMotorsBus:
self.port_handler, self.packet_handler, addr, bytes self.port_handler, self.packet_handler, addr, bytes
) )
for idx, value in zip(motor_ids, values, strict=False): for idx, value in zip(motor_ids, values, strict=True):
if bytes == 1: if bytes == 1:
data = [ data = [
DXL_LOBYTE(DXL_LOWORD(value)), DXL_LOBYTE(DXL_LOWORD(value)),