Add dxl operating modes

lerobot/common/motors/dynamixel/__init__.py

@@ -1,3 +1,3 @@
-from .dynamixel import DynamixelMotorsBus
+from .dynamixel import DynamixelMotorsBus, OperatingMode
 from .dynamixel_calibration import run_arm_calibration
 from .tables import *

lerobot/common/motors/dynamixel/dynamixel.py

@@ -19,6 +19,7 @@
 # -> Need to check compatibility across models
 
 from copy import deepcopy
+from enum import Enum
 
 from ..motors_bus import Motor, MotorsBus
 from .tables import MODEL_BAUDRATE_TABLE, MODEL_CONTROL_TABLE, MODEL_RESOLUTION
@@ -32,6 +33,36 @@ CALIBRATION_REQUIRED = ["Goal_Position", "Present_Position"]
 CONVERT_UINT32_TO_INT32_REQUIRED = ["Goal_Position", "Present_Position"]
 
 
+class OperatingMode(Enum):
+    # DYNAMIXEL only controls current(torque) regardless of speed and position. This mode is ideal for a
+    # gripper or a system that only uses current(torque) control or a system that has additional
+    # velocity/position controllers.
+    Current = 0
+
+    # This mode controls velocity. This mode is identical to the Wheel Mode(endless) from existing DYNAMIXEL.
+    # This mode is ideal for wheel-type robots.
+    Velocity = 1
+
+    # This mode controls position. This mode is identical to the Joint Mode from existing DYNAMIXEL. Operating
+    # position range is limited by the Max Position Limit(48) and the Min Position Limit(52). This mode is
+    # ideal for articulated robots that each joint rotates less than 360 degrees.
+    Position = 3
+
+    # This mode controls position. This mode is identical to the Multi-turn Position Control from existing
+    # DYNAMIXEL. 512 turns are supported(-256[rev] ~ 256[rev]). This mode is ideal for multi-turn wrists or
+    # conveyer systems or a system that requires an additional reduction gear. Note that Max Position
+    # Limit(48), Min Position Limit(52) are not used on Extended Position Control Mode.
+    Extended_Position = 4
+
+    # This mode controls both position and current(torque). Up to 512 turns are supported (-256[rev] ~
+    # 256[rev]). This mode is ideal for a system that requires both position and current control such as
+    # articulated robots or grippers.
+    Current_Position = 5
+
+    # This mode directly controls PWM output. (Voltage Control Mode)
+    PWM = 16
+
+
 class DynamixelMotorsBus(MotorsBus):
     """
     The Dynamixel implementation for a MotorsBus. It relies on the python dynamixel sdk to communicate with

lerobot/common/motors/dynamixel/tables.py

@@ -80,7 +80,7 @@ MODEL_RESOLUTION = {
 
 # {model: model_number}
 # https://emanual.robotis.com/docs/en/dxl/x/{MODEL}/#control-table-of-eeprom-area
-MODELS_TABLE = {
+MODEL_NUMBER = {
     "xl330-m077": 1190,
     "xl330-m288": 1200,
     "xl430-w250": 1060,
@@ -89,6 +89,17 @@ MODELS_TABLE = {
     "xc430-w150": 1070,
 }
 
+# {model: available_operating_modes}
+# https://emanual.robotis.com/docs/en/dxl/x/{MODEL}/#operating-mode11
+MODEL_OPERATING_MODES = {
+    "xl330-m077": [0, 1, 3, 4, 5, 16],
+    "xl330-m288": [0, 1, 3, 4, 5, 16],
+    "xl430-w250": [1, 3, 4, 16],
+    "xm430-w350": [0, 1, 3, 4, 5, 16],
+    "xm540-w270": [0, 1, 3, 4, 5, 16],
+    "xc430-w150": [1, 3, 4, 16],
+}
+
 MODEL_CONTROL_TABLE = {
     "x_series": X_SERIES_CONTROL_TABLE,
     "xl330-m077": X_SERIES_CONTROL_TABLE,