DXL AX 12 A by Mjkp - 3

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dynamixel sdk and example code for Ax_12A, controlled from unity via osc communication

Unknown VersionUnknown LicenseUpdated 312 days agoCreated on November 6th, 2019
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control pipeline from Unity to pi, controlling dynamixel servos via udp protocol


  • python 3
  • dynamixel sdk
  • python-osc (python 3)
  • unity3d
  • pip3


  • Raspberry pi
  • Robotis Dynamixel AX_12A
  • U2D2
  • SMPS2Dynamixel
  • 12V DC Adaptor
  • Micro USB cable
  • Micro USB (female) cable (if using pi zero)


  • type address pattern and servoid + “#” + value (eg. “writeGoalPos” and “1#720”)

Additional Resources

In case U2D2 is not recognized

  • download Dynamixel Wizard to double check the id and baudrate of servo
  • check the port name from device manager(in Windows)
  • if not visible in the device manager download ftdi driver
  • In Linux
ls /dev/tty* # generally its /dev/ttyUSB0
# or
lsusb # to check how many driver is plugged

In case your laptop can not recieve udp message

  • check the Firewall settings in Windows and make a new inbound rule
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