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        "description": "# dxl_py\nSimple python wrapper over the [Dynamixel API](https://github.com/ROBOTIS-GIT/DynamixelSDK).\nAllows commanding and receiving positions for an arbitrary number of servos.\n### Use\n\nCreate a config dictionary with one entry per servo:\n```\nMY_SERVOS_CONFIG = {\n    'test_servo': {\n        'id': 1,  # Servo ID\n        'model': 'mx',  # Servo model tag, one of 'MX' or 'PRO'\n        'min': 0, # Minimum position (MX servos go from 0 to 4095)\n        'max': 4095, # Maximum position\n    },\n    ...\n}\n```\nCreate the servo object using your config dictionary.\n```\nfrom dxl.servos import Servos\nmy_servos = Servos(config = MY_SERVOS_CONFIG, action_bounds = [-1.0, 1.0])\n```\nSet the servo position. The `action_bounds` kwarg determines how actions relate to positions. An action of 1.0 here\nsets the position of the servo to `4095`.\n```\nmy_servos.set({'test_servo' : 1.0, ...})\n```\nGet the servo position.\n```\nmy_servos.get(['test_servo', ...])\n```\n### Setup\n\nClone the DynamixelAPI repo into the desired directory. Install into your desired python environment (consider using [Anaconda](https://conda.io/projects/conda/en/latest/user-guide/tasks/manage-environments.html)).\n```\n$ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git .\n$ cd DynamixelSDK/python/\n$ pip install -e .\n```\nThe wrapper can be installed as a pip package:\n```\npip install dxl_py\n```\nThis repo uses `MX-28` model dynamixel servos connected via USB through a [U2D2](http://www.robotis.us/u2d2/).\nAfter connecting the device, check it exists (the name might be different from the one below):\n```\n$ ls /dev/ttyUSB*\n/dev/ttyUSB0\n```\nNow configure and add a custom udev rule using the `fix_udev.sh` script. You might need to reboot.\n```\n$ sudo ./fix_udev.sh\n```\nIf we check the devices again we should now see the dynamixel device.\n```\n$ ls /dev/dynamixel\n/dev/dynamixel\n```\nConnect a servo with `id=1` and run the test with `python -m unittest`.\n\n\n",
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