dynamixel-sdk 3.8.4__tar.gz → 4.0.2__tar.gz

{dynamixel_sdk-3.8.4 → dynamixel_sdk-4.0.2}/PKG-INFO

@@ -1,16 +1,17 @@
 Metadata-Version: 2.4
 Name: dynamixel-sdk
-Version: 3.8.4
-Summary: Dynamixel SDK 3. python package
+Version: 4.0.2
+Summary: Dynamixel SDK 4. python package
 Home-page: https://github.com/ROBOTIS-GIT/DynamixelSDK
-Author: Leon Jung, Wonho Yun
-Author-email: Leon Jung <rwjung@robotis.com>, Wonho Yun <ywh@robotis.com>
+Author: Leon Jung, Wonho Yun, Hyungyu Kim
+Author-email: Leon Jung <rwjung@robotis.com>, Wonho Yun <ywh@robotis.com>, Hyungyu Kim <kimgf@robotis.com>
 License: Apache 2.0
 Project-URL: Homepage, https://github.com/ROBOTIS-GIT/DynamixelSDK
 Requires-Python: >=3.6
 Description-Content-Type: text/plain
 License-File: LICENSE.txt
 Requires-Dist: pyserial
+Requires-Dist: importlib_resources; python_version < "3.9"
 Dynamic: author
 Dynamic: home-page
 Dynamic: license-file

{dynamixel_sdk-3.8.4 → dynamixel_sdk-4.0.2}/pyproject.toml

@@ -4,16 +4,18 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "dynamixel-sdk"
-version = "3.8.4"
-description = "Dynamixel SDK 3. python package"
+version = "4.0.2"
+description = "Dynamixel SDK 4. python package"
 readme = "README.txt"
 license = { text = "Apache 2.0" }
 authors = [
     { name = "Leon Jung", email = "rwjung@robotis.com" },
-    { name = "Wonho Yun", email = "ywh@robotis.com" }
+    { name = "Wonho Yun", email = "ywh@robotis.com" },
+    { name = "Hyungyu Kim", email = "kimgf@robotis.com" }
 ]
 dependencies = [
-    "pyserial"
+    "pyserial",
+    'importlib_resources; python_version < "3.9"'
 ]
 requires-python = ">=3.6"
 urls = { Homepage = "https://github.com/ROBOTIS-GIT/DynamixelSDK" }
@@ -23,3 +25,6 @@ package-dir = {"" = "src"}
 
 [tool.setuptools.packages.find]
 where = ["src"]
+
+[tool.setuptools.package-data]
+"dynamixel_easy_sdk.control_table" = ["*.model"]

{dynamixel_sdk-3.8.4 → dynamixel_sdk-4.0.2}/setup.py

@@ -6,6 +6,7 @@ import platform
 authors_info = [
     ('Leon Jung', 'rwjung@robotis.com'),
     ('Wonho Yun', 'ywh@robotis.com'),
+    ('Hyungyu Kim', 'kimhg@robotis.com'),
 ]
 
 authors = ', '.join(author for author, _ in authors_info)
@@ -13,11 +14,11 @@ author_emails = ', '.join(email for _, email in authors_info)
 
 setup(
     name='dynamixel_sdk',
-    version='3.8.4',
+    version='4.0.2',
     packages=['dynamixel_sdk'],
     package_dir={'': 'src'},
     license='Apache 2.0',
-    description='Dynamixel SDK 3. python package',
+    description='Dynamixel SDK 4. python package',
     long_description=open('README.txt').read(),
     url='https://github.com/ROBOTIS-GIT/DynamixelSDK',
     author=authors,

dynamixel_sdk-4.0.2/src/dynamixel_easy_sdk/__init__.py

@@ -0,0 +1,54 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+################################################################################
+# Copyright 2025 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+################################################################################
+
+# Author: Hyungyu Kim
+
+from .connector import Connector
+from .control_table import ControlTable
+from .data_types import (
+    CommandType,
+    ControlTableItem,
+    Direction,
+    OperatingMode,
+    ProfileConfiguration,
+    StagedCommand,
+    StatusRequest,
+)
+from .dynamixel_error import DxlError
+from .dynamixel_error import DxlRuntimeError
+from .dynamixel_error import getErrorMessage
+from .group_executor import GroupExecutor
+from .motor import Motor
+
+__all__ = [
+    'Connector',
+    'ControlTable',
+    'CommandType',
+    'ControlTableItem',
+    'Direction',
+    'OperatingMode',
+    'ProfileConfiguration',
+    'StagedCommand',
+    'StatusRequest',
+    'DxlError',
+    'DxlRuntimeError',
+    'getErrorMessage',
+    'GroupExecutor',
+    'Motor',
+]

dynamixel_sdk-4.0.2/src/dynamixel_easy_sdk/connector.py

@@ -0,0 +1,153 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+################################################################################
+# Copyright 2025 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+################################################################################
+
+# Author: Hyungyu Kim
+
+from typing import List
+import serial
+
+from dynamixel_easy_sdk.dynamixel_error import DxlError
+from dynamixel_easy_sdk.dynamixel_error import DxlRuntimeError
+from dynamixel_easy_sdk.group_executor import GroupExecutor
+from dynamixel_easy_sdk.motor import Motor
+from dynamixel_sdk import PacketHandler
+from dynamixel_sdk import PortHandler
+
+
+class Connector:
+
+    PROTOCOL_VERSION = 2.0
+    _packet_handler = None
+
+    def __init__(self, port_name: str, baud_rate: int):
+        self._port_handler = PortHandler(port_name)
+        if Connector._packet_handler is None:
+            Connector._packet_handler = PacketHandler(Connector.PROTOCOL_VERSION)
+
+        try:
+            if not self._port_handler.setBaudRate(baud_rate):
+                raise DxlRuntimeError('Invalid baudrate specified')
+        except serial.SerialException as e:
+            errno = getattr(e, 'errno', None)
+            if errno == 2:
+                raise DxlRuntimeError(f'Port "{port_name}" does not exist') from e
+            elif errno == 16:
+                raise DxlRuntimeError(DxlError.SDK_COMM_PORT_BUSY) from e
+            else:
+                raise DxlRuntimeError('Failed to open port') from e
+        except Exception as e:
+            raise DxlRuntimeError('Failed to open port') from e
+
+    def createMotor(self, motor_id: int) -> Motor:
+        model_number = self.ping(motor_id)
+        return Motor(motor_id, model_number, self)
+
+    def createAllMotors(self, start_id: int = 0, end_id: int = 252) -> List[Motor]:
+        if not (0 <= start_id <= 252 and 0 <= end_id <= 252 and start_id <= end_id):
+            raise DxlRuntimeError('ID must be between 0 and 252, and start_id <= end_id')
+
+        motor_ids = self.broadcastPing()
+        motors = []
+        for motor_id in motor_ids:
+            if start_id <= motor_id <= end_id:
+                motors.append(self.createMotor(motor_id))
+        return motors
+
+    def createGroupExecutor(self):
+        return GroupExecutor(self)
+
+    def _checkError(self, dxl_comm_result, dxl_error):
+        if dxl_comm_result != DxlError.SDK_COMM_SUCCESS:
+            raise DxlRuntimeError(DxlError(dxl_comm_result))
+        if dxl_error != DxlError.SDK_COMM_SUCCESS:
+            raise DxlRuntimeError(DxlError(dxl_error))
+
+    def read1ByteData(self, motor_id: int, address: int) -> int:
+        value, dxl_comm_result, dxl_error = Connector._packet_handler.read1ByteTxRx(
+            self._port_handler,
+            motor_id,
+            address)
+        self._checkError(dxl_comm_result, dxl_error)
+        return value
+
+    def read2ByteData(self, motor_id: int, address: int) -> int:
+        value, dxl_comm_result, dxl_error = Connector._packet_handler.read2ByteTxRx(
+            self._port_handler,
+            motor_id,
+            address)
+        self._checkError(dxl_comm_result, dxl_error)
+        return value
+
+    def read4ByteData(self, motor_id: int, address: int) -> int:
+        value, dxl_comm_result, dxl_error = Connector._packet_handler.read4ByteTxRx(
+            self._port_handler,
+            motor_id,
+            address)
+        self._checkError(dxl_comm_result, dxl_error)
+        return value
+
+    def write1ByteData(self, motor_id: int, address: int, value: int):
+        dxl_comm_result, dxl_error = Connector._packet_handler.write1ByteTxRx(
+            self._port_handler,
+            motor_id,
+            address,
+            value)
+        self._checkError(dxl_comm_result, dxl_error)
+
+    def write2ByteData(self, motor_id: int, address: int, value: int):
+        dxl_comm_result, dxl_error = Connector._packet_handler.write2ByteTxRx(
+            self._port_handler,
+            motor_id,
+            address,
+            value)
+        self._checkError(dxl_comm_result, dxl_error)
+
+    def write4ByteData(self, motor_id: int, address: int, value: int):
+        dxl_comm_result, dxl_error = Connector._packet_handler.write4ByteTxRx(
+            self._port_handler,
+            motor_id,
+            address,
+            value)
+        self._checkError(dxl_comm_result, dxl_error)
+
+    def reboot(self, motor_id: int):
+        dxl_comm_result, dxl_error = Connector._packet_handler.reboot(self._port_handler, motor_id)
+        self._checkError(dxl_comm_result, dxl_error)
+
+    def ping(self, motor_id: int) -> int:
+        model_number, dxl_comm_result, dxl_error = Connector._packet_handler.ping(
+            self._port_handler,
+            motor_id)
+        self._checkError(dxl_comm_result, dxl_error)
+        return model_number
+
+    def broadcastPing(self) -> List[int]:
+        ids, dxl_comm_result = Connector._packet_handler.broadcastPing(self._port_handler)
+        self._checkError(dxl_comm_result, DxlError.SDK_COMM_SUCCESS)
+        return ids
+
+    def factoryReset(self, motor_id: int, option: int):
+        dxl_comm_result, dxl_error = Connector._packet_handler.factoryReset(
+            self._port_handler,
+            motor_id,
+            option)
+        self._checkError(dxl_comm_result, dxl_error)
+
+    def closePort(self):
+        self._port_handler.closePort()

dynamixel_sdk-4.0.2/src/dynamixel_easy_sdk/control_table/2xc430_w250.model

@@ -0,0 +1,70 @@
+[type info]
+name	value
+value_of_zero_radian_position	2048
+value_of_max_radian_position	4095
+value_of_min_radian_position	0
+min_radian	-3.14159265
+max_radian	3.14159265
+
+[unit info]
+Data Name	value	unit	Sign Type
+Present Velocity	0.0239691227	rad/s	signed
+Goal Velocity	0.0239691227	rad/s	signed
+
+[control table]
+Address	Size	Data Name
+0	2	Model Number
+2	4	Model Information
+6	1	Firmware Version
+7	1	ID
+8	1	Baud Rate
+9	1	Return Delay Time
+10	1	Drive Mode
+11	1	Operating Mode
+12	1	Secondary(Shadow) ID
+13	1	Protocol Type
+20	4	Homing Offset
+24	4	Moving Threshold
+31	1	Temperature Limit
+32	2	Max Voltage Limit
+34	2	Min Voltage Limit
+36	2	PWM Limit
+44	4	Velocity Limit
+48	4	Max Position Limit
+52	4	Min Position Limit
+63	1	Shutdown
+64	1	Torque Enable
+65	1	LED
+68	1	Status Return Level
+69	1	Registered Instruction
+70	1	Hardware Error Status
+76	2	Velocity I Gain
+78	2	Velocity P Gain
+80	2	Position D Gain
+82	2	Position I Gain
+84	2	Position P Gain
+88	2	Feedforward 2nd Gain
+90	2	Feedforward 1st Gain
+98	1	Bus Watchdog
+100	2	Goal PWM
+104	4	Goal Velocity
+108	4	Profile Acceleration
+112	4	Profile Velocity
+116	4	Goal Position
+120	2	Realtime Tick
+122	1	Moving
+123	1	Moving Status
+124	2	Present PWM
+126	2	Present Load
+128	4	Present Velocity
+132	4	Present Position
+136	4	Velocity Trajectory
+140	4	Position Trajectory
+144	2	Present Input Voltage
+146	1	Present Temperature
+168	2	Indirect Address 1
+224	1	Indirect Data 1
+168	2	Indirect Address Write
+224	1	Indirect Data Write
+578	2	Indirect Address Read
+634	1	Indirect Data Read

dynamixel_sdk-4.0.2/src/dynamixel_easy_sdk/control_table/2xl430_w250.model

@@ -0,0 +1,70 @@
+[type info]
+name	value
+value_of_zero_radian_position	2048
+value_of_max_radian_position	4095
+value_of_min_radian_position	0
+min_radian	-3.14159265
+max_radian	3.14159265
+
+[unit info]
+Data Name	value	unit	Sign Type
+Present Velocity	0.0239691227	rad/s	signed
+Goal Velocity	0.0239691227	rad/s	signed
+
+[control table]
+Address	Size	Data Name
+0	2	Model Number
+2	4	Model Information
+6	1	Firmware Version
+7	1	ID
+8	1	Baud Rate
+9	1	Return Delay Time
+10	1	Drive Mode
+11	1	Operating Mode
+12	1	Secondary(Shadow) ID
+13	1	Protocol Type
+20	4	Homing Offset
+24	4	Moving Threshold
+31	1	Temperature Limit
+32	2	Max Voltage Limit
+34	2	Min Voltage Limit
+36	2	PWM Limit
+44	4	Velocity Limit
+48	4	Max Position Limit
+52	4	Min Position Limit
+63	1	Shutdown
+64	1	Torque Enable
+65	1	LED
+68	1	Status Return Level
+69	1	Registered Instruction
+70	1	Hardware Error Status
+76	2	Velocity I Gain
+78	2	Velocity P Gain
+80	2	Position D Gain
+82	2	Position I Gain
+84	2	Position P Gain
+88	2	Feedforward 2nd Gain
+90	2	Feedforward 1st Gain
+98	1	Bus Watchdog
+100	2	Goal PWM
+104	4	Goal Velocity
+108	4	Profile Acceleration
+112	4	Profile Velocity
+116	4	Goal Position
+120	2	Realtime Tick
+122	1	Moving
+123	1	Moving Status
+124	2	Present PWM
+126	2	Present Load
+128	4	Present Velocity
+132	4	Present Position
+136	4	Velocity Trajectory
+140	4	Position Trajectory
+144	2	Present Input Voltage
+146	1	Present Temperature
+168	2	Indirect Address 1
+224	1	Indirect Data 1
+168	2	Indirect Address Write
+224	1	Indirect Data Write
+578	2	Indirect Address Read
+634	1	Indirect Data Read

dynamixel_sdk-4.0.2/src/dynamixel_easy_sdk/control_table/dynamixel.model

@@ -0,0 +1,61 @@
+Number	Name
+30	mx_28.model
+311	mx_64.model
+321	mx_106.model
+350	xl320.model
+1000	xh430_w350.model
+1001	xd430_t350.model
+1010	xh430_w210.model
+1011	xd430_t210.model
+1020	xm430_w350.model
+1030	xm430_w210.model
+1040	xh430_v350.model
+1050	xh430_v210.model
+1060	xl430_w250.model
+1070	xc430_w150.model
+1080	xc430_w240.model
+1090	2xl430_w250.model
+1100	xh540_w270.model
+1101	xd540_t270.model
+1110	xh540_w150.model
+1111	xd540_t150.model
+1120	xm540_w270.model
+1130	xm540_w150.model
+1140	xh540_v270.model
+1150	xh540_v150.model
+1160	2xc430_w250.model
+1170	xw540_t260.model
+1180	xw540_t140.model
+1190	xl330_m077.model
+1200	xl330_m288.model
+1210	xc330_t181.model
+1220	xc330_t288.model
+1230	xc330_m181.model
+1240	xc330_m288.model
+1270	xw430_t333.model
+1310	xw540_h260.model
+2000	ph42_020_s300.model
+2010	ph54_100_s500.model
+2020	ph54_200_s500.model
+2100	pm42_010_s260.model
+2110	pm54_040_s250.model
+2120	pm54_060_s250.model
+4000	ym070_210_m001.model
+4010	ym070_210_b001.model
+4020	ym070_210_r051.model
+4030	ym070_210_r099.model
+4040	ym070_210_a051.model
+4050	ym070_210_a099.model
+4120	ym080_230_m001.model
+4130	ym080_230_b001.model
+4140	ym080_230_r051.model
+4150	ym080_230_r099.model
+4160	ym080_230_a051.model
+4170	ym080_230_a099.model
+35074	rh_p12_rn.model
+43289	m42_10_s260_ra.model
+46097	m54_40_s250_ra.model
+46353	m54_60_s250_ra.model
+51201	h42_20_s300_ra.model
+53769	h54_100_s500_ra.model
+54025	h54_200_s500_ra.model

dynamixel_sdk-4.0.2/src/dynamixel_easy_sdk/control_table/h42_20_s300_ra.model

@@ -0,0 +1,84 @@
+[type info]
+name	value
+value_of_zero_radian_position	0
+value_of_max_radian_position	303750
+value_of_min_radian_position	-303750
+min_radian	-3.14159265
+max_radian	3.14159265
+
+[unit info]
+Data Name	value	unit	Sign Type
+Present Velocity	0.0010471976	rad/s	signed
+Goal Velocity	0.0010471976	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
+
+[control table]
+Address	Size	Data Name
+0	2	Model Number
+2	4	Model Information
+6	1	Firmware Version
+7	1	ID
+8	1	Baud Rate
+9	1	Return Delay Time
+10	1	Drive Mode
+11	1	Operating Mode
+12	1	Secondary ID
+20	4	Homing Offset
+24	4	Moving Threshold
+31	1	Temperature Limit
+32	2	Max Voltage Limit
+34	2	Min Voltage Limit
+36	2	PWM Limit
+38	2	Current Limit
+40	4	Acceleration Limit
+44	4	Velocity Limit
+48	4	Max Position Limit
+52	4	Min Position Limit
+56	1	External Port Mode 1
+57	1	External Port Mode 2
+58	1	External Port Mode 3
+59	1	External Port Mode 4
+63	1	Shutdown
+512	1	Torque Enable
+513	1	LED Red
+514	1	LED Green
+515	1	LED Blue
+516	1	Status Return Level
+517	1	Registered Instruction
+518	1	Hardware Error Status
+524	2	Velocity I Gain
+526	2	Velocity P Gain
+528	2	Position D Gain
+530	2	Position I Gain
+532	2	Position P Gain
+536	2	Feedforward 2nd Gain
+538	2	Feedforward 1st Gain
+546	1	Bus Watchdog
+548	2	Goal PWM
+550	2	Goal Current
+552	4	Goal Velocity
+556	4	Profile Acceleration
+560	4	Profile Velocity
+564	4	Goal Position
+568	2	Realtime Tick
+570	1	Moving
+571	1	Moving Status
+572	2	Present PWM
+574	2	Present Current
+576	4	Present Velocity
+580	4	Present Position
+584	4	Velocity Trajectory
+588	4	Position Trajectory
+592	2	Present Input Voltage
+594	1	Present Temperature
+600	2	External Port Data 1
+602	2	External Port Data 2
+604	2	External Port Data 3
+606	2	External Port Data 4
+168	2	Indirect Address 1
+634	1	Indirect Data 1
+168	2	Indirect Address Write
+634	1	Indirect Data Write
+296	2	Indirect Address Read
+698	1	Indirect Data Read

dynamixel_sdk-4.0.2/src/dynamixel_easy_sdk/control_table/h54_100_s500_ra.model

@@ -0,0 +1,84 @@
+[type info]
+name	value
+value_of_zero_radian_position	0
+value_of_max_radian_position	501923
+value_of_min_radian_position	-501923
+min_radian	-3.14159265
+max_radian	3.14159265
+
+[unit info]
+Data Name	value	unit	Sign Type
+Present Velocity	0.0010471976	rad/s	signed
+Goal Velocity	0.0010471976	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
+
+[control table]
+Address	Size	Data Name
+0	2	Model Number
+2	4	Model Information
+6	1	Firmware Version
+7	1	ID
+8	1	Baud Rate
+9	1	Return Delay Time
+10	1	Drive Mode
+11	1	Operating Mode
+12	1	Secondary ID
+20	4	Homing Offset
+24	4	Moving Threshold
+31	1	Temperature Limit
+32	2	Max Voltage Limit
+34	2	Min Voltage Limit
+36	2	PWM Limit
+38	2	Current Limit
+40	4	Acceleration Limit
+44	4	Velocity Limit
+48	4	Max Position Limit
+52	4	Min Position Limit
+56	1	External Port Mode 1
+57	1	External Port Mode 2
+58	1	External Port Mode 3
+59	1	External Port Mode 4
+63	1	Shutdown
+512	1	Torque Enable
+513	1	LED Red
+514	1	LED Green
+515	1	LED Blue
+516	1	Status Return Level
+517	1	Registered Instruction
+518	1	Hardware Error Status
+524	2	Velocity I Gain
+526	2	Velocity P Gain
+528	2	Position D Gain
+530	2	Position I Gain
+532	2	Position P Gain
+536	2	Feedforward 2nd Gain
+538	2	Feedforward 1st Gain
+546	1	Bus Watchdog
+548	2	Goal PWM
+550	2	Goal Current
+552	4	Goal Velocity
+556	4	Profile Acceleration
+560	4	Profile Velocity
+564	4	Goal Position
+568	2	Realtime Tick
+570	1	Moving
+571	1	Moving Status
+572	2	Present PWM
+574	2	Present Current
+576	4	Present Velocity
+580	4	Present Position
+584	4	Velocity Trajectory
+588	4	Position Trajectory
+592	2	Present Input Voltage
+594	1	Present Temperature
+600	2	External Port Data 1
+602	2	External Port Data 2
+604	2	External Port Data 3
+606	2	External Port Data 4
+168	2	Indirect Address 1
+634	1	Indirect Data 1
+168	2	Indirect Address Write
+634	1	Indirect Data Write
+296	2	Indirect Address Read
+698	1	Indirect Data Read