apisandframeworks:pypot_patches

This is an old revision of the document!


The present document was written targetting PyPot 3.0.3, running under Python 2.7.

The Herborist tool provides a GUI for low level manipulation of Dynamixel devices.
In many aspects it replaces the Dynamixel Wizard from Robotis.

Like the Dynamixel Wizard, it needs to be patched so that it “knows” about the Seed Robotics devices.

At the time of writing, Seed Robotics devices identified themselves as model numbers 400, 401, 404, 405, 406.
We will be adding support for these in Herborist. Failing to add support, may result in an error running Herborist (where the GUI stops responding a traceback error appears on the console).

Locate [your python folder]\lib\site-packages\pypot-3.0.3-py2.7.egg\pypot\dynamixel\conversion.py

Open the file and apply the following changes:

1) Locate # MARK: - Model

Add, the following models to the end of the list:

    404: 'SR-SEED28',
    405: 'SR-EROSBRD',
    406: 'SR-SEED56',

2) Locate velocity = { # in degree/s

Add, the following to the end of the list:

    'SR-SEED28':300.,
    'SR-EROSBRD':300., #compatibility only; this is a board
    'SR-SEED56':300.,

3) Locate torque_max = { # in N.m

Add, the following to the end of the list:

    'SR-SEED28':0.28, # RH7D
    'SR-EROSBRD':0.1, #compatibility only; this is a board
    'SR-SEED56':0.57, # RH4D

Copyright © 2015-2023 Seed Robotics Ltd

  • apisandframeworks/pypot_patches.1496348639.txt.gz
  • Last modified: 2017/06/01 20:23
  • by Pedro Ramilo