From 7f70b78f3221a2fa64ae09795b5989a58a61931d Mon Sep 17 00:00:00 2001 From: Jack Vial Date: Wed, 20 Aug 2025 11:24:05 -0400 Subject: [PATCH] Add missing encoding table entries for Koch arm (#1534) --- src/lerobot/motors/dynamixel/tables.py | 2 ++ 1 file changed, 2 insertions(+) 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],