feat: Add velocity unit parameter to multiple Dynamixel model files

Woojin-Crive · Woojin-Crive · commit 6f696f423b6b · 2025-06-17T11:36:59.000+09:00
diff --git a/param/dxl_model/2xc430_w250.model b/param/dxl_model/2xc430_w250.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/2xl430_w250.model b/param/dxl_model/2xl430_w250.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/ffw_sg2_drive_1.model b/param/dxl_model/ffw_sg2_drive_1.model
@@ -5,7 +5,7 @@ value_of_max_radian_position	262144
 value_of_min_radian_position	-262144
 min_radian	-3.14159265
 max_radian	3.14159265
-torque_constant	1.0
+velocity_unit	0.01
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/ffw_sg2_drive_2.model b/param/dxl_model/ffw_sg2_drive_2.model
@@ -5,7 +5,7 @@ value_of_max_radian_position	262144
 value_of_min_radian_position	-262144
 min_radian	-3.14159265
 max_radian	3.14159265
-torque_constant	1.0
+velocity_unit	0.01
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/ffw_sg2_drive_3.model b/param/dxl_model/ffw_sg2_drive_3.model
@@ -5,7 +5,7 @@ value_of_max_radian_position	262144
 value_of_min_radian_position	-262144
 min_radian	-3.14159265
 max_radian	3.14159265
-torque_constant	1.0
+velocity_unit	0.01
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/ffw_sg2_steer_1.model b/param/dxl_model/ffw_sg2_steer_1.model
@@ -5,7 +5,7 @@ value_of_max_radian_position	262144
 value_of_min_radian_position	-262144
 min_radian	-3.14159265
 max_radian	3.14159265
-torque_constant	1.0
+velocity_unit	0.01
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/ffw_sg2_steer_2.model b/param/dxl_model/ffw_sg2_steer_2.model
@@ -5,7 +5,7 @@ value_of_max_radian_position	262144
 value_of_min_radian_position	-262144
 min_radian	-3.14159265
 max_radian	3.14159265
-torque_constant	1.0
+velocity_unit	0.01
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/ffw_sg2_steer_3.model b/param/dxl_model/ffw_sg2_steer_3.model
@@ -5,7 +5,7 @@ value_of_max_radian_position	262144
 value_of_min_radian_position	-262144
 min_radian	-3.14159265
 max_radian	3.14159265
-torque_constant	1.0
+velocity_unit	0.01
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/omy_end.model b/param/dxl_model/omy_end.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	740
 value_of_min_radian_position	-740
 min_radian	-1.099
 max_radian	1.099
+velocity_unit	0.114
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/ph42_020_s300.model b/param/dxl_model/ph42_020_s300.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	303750
 value_of_min_radian_position	-303750
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.01
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/rh_p12_rn.model b/param/dxl_model/rh_p12_rn.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	740
 value_of_min_radian_position	-740
 min_radian	-1.099
 max_radian	1.099
+velocity_unit	0.114
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xc330_m181.model b/param/dxl_model/xc330_m181.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xc330_m288.model b/param/dxl_model/xc330_m288.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xc330_t181.model b/param/dxl_model/xc330_t181.model
@@ -6,6 +6,7 @@ value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
 torque_constant	0.0006709470296015791
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xc330_t288.model b/param/dxl_model/xc330_t288.model
@@ -6,6 +6,7 @@ value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
 torque_constant	0.0009674796739867748
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xc430_w150.model b/param/dxl_model/xc430_w150.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xc430_w240.model b/param/dxl_model/xc430_w240.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xd430_t210.model b/param/dxl_model/xd430_t210.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xd430_t350.model b/param/dxl_model/xd430_t350.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xd540_t150.model b/param/dxl_model/xd540_t150.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xd540_t270.model b/param/dxl_model/xd540_t270.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xh430_v210.model b/param/dxl_model/xh430_v210.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xh430_v350.model b/param/dxl_model/xh430_v350.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xh430_w210.model b/param/dxl_model/xh430_w210.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xh430_w350.model b/param/dxl_model/xh430_w350.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xh540_v150.model b/param/dxl_model/xh540_v150.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xh540_v270.model b/param/dxl_model/xh540_v270.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xh540_w150.model b/param/dxl_model/xh540_w150.model
@@ -6,6 +6,7 @@ value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
 torque_constant	0.0045
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xh540_w270.model b/param/dxl_model/xh540_w270.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xl320.model b/param/dxl_model/xl320.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.111
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xl330_m077.model b/param/dxl_model/xl330_m077.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xl330_m288.model b/param/dxl_model/xl330_m288.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xl430_w250.model b/param/dxl_model/xl430_w250.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xm430_w210.model b/param/dxl_model/xm430_w210.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xm430_w350.model b/param/dxl_model/xm430_w350.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xm540_w150.model b/param/dxl_model/xm540_w150.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xm540_w270.model b/param/dxl_model/xm540_w270.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xw430_t200.model b/param/dxl_model/xw430_t200.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xw430_t333.model b/param/dxl_model/xw430_t333.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xw540_h260.model b/param/dxl_model/xw540_h260.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xw540_t140.model b/param/dxl_model/xw540_t140.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xw540_t260.model b/param/dxl_model/xw540_t260.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	4095
 value_of_min_radian_position	0
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.229
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/ym070_210_a099.model b/param/dxl_model/ym070_210_a099.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	262144
 value_of_min_radian_position	-262144
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.01
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/ym070_210_m001.model b/param/dxl_model/ym070_210_m001.model
@@ -1,10 +1,11 @@
 [type info]
 name	value
-value_of_zero_radian_position	262144
-value_of_max_radian_position	524287
-value_of_min_radian_position	0
+value_of_zero_radian_position	0
+value_of_max_radian_position	262144
+value_of_min_radian_position	-262144
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.01
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/ym070_210_r051.model b/param/dxl_model/ym070_210_r051.model
@@ -1,10 +1,11 @@
 [type info]
 name	value
-value_of_zero_radian_position	13369344
-value_of_max_radian_position	26738687
-value_of_min_radian_position	0
+value_of_zero_radian_position	0
+value_of_max_radian_position	262144
+value_of_min_radian_position	-262144
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.01
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/ym070_210_r099.model b/param/dxl_model/ym070_210_r099.model
@@ -5,6 +5,7 @@ value_of_max_radian_position	262144
 value_of_min_radian_position	-262144
 min_radian	-3.14159265
 max_radian	3.14159265
+velocity_unit	0.01
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/ym080_220_m001.model b/param/dxl_model/ym080_220_m001.model
diff --git a/param/dxl_model/ym080_230_a099.model b/param/dxl_model/ym080_230_a099.model
diff --git a/param/dxl_model/ym080_230_b001.model b/param/dxl_model/ym080_230_b001.model
diff --git a/param/dxl_model/ym080_230_r051.model b/param/dxl_model/ym080_230_r051.model
diff --git a/param/dxl_model/ym080_230_r099.model b/param/dxl_model/ym080_230_r099.model
diff --git a/src/dynamixel/dynamixel_info.cpp b/src/dynamixel/dynamixel_info.cpp
