Add Motor in dxl robots

2025-03-23 11:08:20 +01:00
parent e047074825
commit 1f1e1bcfe8
8 changed files with 38 additions and 61 deletions
--- a/lerobot/common/motors/dynamixel/dynamixel.py
+++ b/lerobot/common/motors/dynamixel/dynamixel.py
@@ -20,7 +20,7 @@

 from copy import deepcopy

-from ..motors_bus import MotorsBus
+from ..motors_bus import Motor, MotorsBus
 from .tables import MODEL_BAUDRATE_TABLE, MODEL_CONTROL_TABLE, MODEL_RESOLUTION

 PROTOCOL_VERSION = 2.0
@@ -48,7 +48,7 @@ class DynamixelMotorsBus(MotorsBus):
    def __init__(
        self,
        port: str,
-        motors: dict[str, tuple[int, str]],
+        motors: dict[str, Motor],
    ):
        super().__init__(port, motors)
        import dynamixel_sdk as dxl