diff --git a/src/lerobot/motors/dynamixel/tables.py b/src/lerobot/motors/dynamixel/tables.py
index 8b67bbf3..5417d8ce 100644
--- a/src/lerobot/motors/dynamixel/tables.py
+++ b/src/lerobot/motors/dynamixel/tables.py
@@ -107,6 +107,8 @@ X_SERIES_ENCODINGS_TABLE = {
     "Goal_PWM": X_SERIES_CONTROL_TABLE["Goal_PWM"][1],
     "Goal_Current": X_SERIES_CONTROL_TABLE["Goal_Current"][1],
     "Goal_Velocity": X_SERIES_CONTROL_TABLE["Goal_Velocity"][1],
+    "Goal_Position": X_SERIES_CONTROL_TABLE["Goal_Position"][1],
+    "Present_Position": X_SERIES_CONTROL_TABLE["Present_Position"][1],
     "Present_PWM": X_SERIES_CONTROL_TABLE["Present_PWM"][1],
     "Present_Current": X_SERIES_CONTROL_TABLE["Present_Current"][1],
     "Present_Velocity": X_SERIES_CONTROL_TABLE["Present_Velocity"][1],