feat: Add default current unit for multiple Dynamixel model files

Woojin-Crive · Woojin-Crive · commit ef79e211b8f0 · 2025-08-13T11:56:25.000+09:00
diff --git a/param/dxl_model/ffw_sg2_drive_1.model b/param/dxl_model/ffw_sg2_drive_1.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 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
diff --git a/param/dxl_model/ffw_sg2_drive_2.model b/param/dxl_model/ffw_sg2_drive_2.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 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
diff --git a/param/dxl_model/ffw_sg2_drive_3.model b/param/dxl_model/ffw_sg2_drive_3.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 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
diff --git a/param/dxl_model/ffw_sg2_steer_1.model b/param/dxl_model/ffw_sg2_steer_1.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 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
diff --git a/param/dxl_model/ffw_sg2_steer_2.model b/param/dxl_model/ffw_sg2_steer_2.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 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
diff --git a/param/dxl_model/ffw_sg2_steer_3.model b/param/dxl_model/ffw_sg2_steer_3.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 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
diff --git a/param/dxl_model/h42_20_s300_ra.model b/param/dxl_model/h42_20_s300_ra.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 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
diff --git a/param/dxl_model/h54_100_s500_ra.model b/param/dxl_model/h54_100_s500_ra.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 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
diff --git a/param/dxl_model/h54_200_s500_ra.model b/param/dxl_model/h54_200_s500_ra.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 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
diff --git a/param/dxl_model/m42_10_s260_ra.model b/param/dxl_model/m42_10_s260_ra.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 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
diff --git a/param/dxl_model/m54_40_s250_ra.model b/param/dxl_model/m54_40_s250_ra.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 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
diff --git a/param/dxl_model/m54_60_s250_ra.model b/param/dxl_model/m54_60_s250_ra.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 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
diff --git a/param/dxl_model/mx_106.model b/param/dxl_model/mx_106.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/mx_64.model b/param/dxl_model/mx_64.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/omy_end_rh_p12_rn.model b/param/dxl_model/omy_end_rh_p12_rn.model
@@ -10,6 +10,8 @@ max_radian	1.099
 Data Name	value	unit	Sign Type
 Present Velocity	0.0119380521	rad/s	signed
 Goal Velocity	0.0119380521	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/ph42_020_s300.model b/param/dxl_model/ph42_020_s300.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 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
diff --git a/param/dxl_model/ph54_100_s500.model b/param/dxl_model/ph54_100_s500.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 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
diff --git a/param/dxl_model/ph54_200_s500.model b/param/dxl_model/ph54_200_s500.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 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
diff --git a/param/dxl_model/pm42_010_s260.model b/param/dxl_model/pm42_010_s260.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 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
diff --git a/param/dxl_model/pm54_040_s250.model b/param/dxl_model/pm54_040_s250.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 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
diff --git a/param/dxl_model/pm54_060_s250.model b/param/dxl_model/pm54_060_s250.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 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
diff --git a/param/dxl_model/rh_p12_rn.model b/param/dxl_model/rh_p12_rn.model
@@ -10,6 +10,8 @@ max_radian	1.099
 Data Name	value	unit	Sign Type
 Present Velocity	0.0119380521	rad/s	signed
 Goal Velocity	0.0119380521	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xc330_m181.model b/param/dxl_model/xc330_m181.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xc330_m181_fw52.model b/param/dxl_model/xc330_m181_fw52.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xc330_m288.model b/param/dxl_model/xc330_m288.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xc330_m288_fw52.model b/param/dxl_model/xc330_m288_fw52.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xd430_t210.model b/param/dxl_model/xd430_t210.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xd430_t350.model b/param/dxl_model/xd430_t350.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xd540_t150.model b/param/dxl_model/xd540_t150.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xd540_t270.model b/param/dxl_model/xd540_t270.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xh430_v210.model b/param/dxl_model/xh430_v210.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xh430_v350.model b/param/dxl_model/xh430_v350.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xh430_w210.model b/param/dxl_model/xh430_w210.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xh430_w350.model b/param/dxl_model/xh430_w350.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xh540_v150.model b/param/dxl_model/xh540_v150.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xh540_v270.model b/param/dxl_model/xh540_v270.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xh540_w270.model b/param/dxl_model/xh540_w270.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xl330_m077.model b/param/dxl_model/xl330_m077.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xl330_m077_fw52.model b/param/dxl_model/xl330_m077_fw52.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xl330_m288.model b/param/dxl_model/xl330_m288.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xl330_m288_fw52.model b/param/dxl_model/xl330_m288_fw52.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xm430_w210.model b/param/dxl_model/xm430_w210.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xm430_w350.model b/param/dxl_model/xm430_w350.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xm540_w150.model b/param/dxl_model/xm540_w150.model
@@ -10,6 +10,8 @@ max_radian	3.14159265
 Data Name	value	unit	Sign Type
 Present Velocity	0.0239691227	rad/s	signed
 Goal Velocity	0.0239691227	rad/s	signed
+Present Current	1.0	raw	signed
+Goal Current	1.0	raw	signed
 
 [control table]
 Address	Size	Data Name
diff --git a/param/dxl_model/xm540_w270.model b/param/dxl_model/xm540_w270.model
diff --git a/param/dxl_model/xw430_t200.model b/param/dxl_model/xw430_t200.model
diff --git a/param/dxl_model/xw430_t333.model b/param/dxl_model/xw430_t333.model
diff --git a/param/dxl_model/xw540_h260.model b/param/dxl_model/xw540_h260.model
diff --git a/param/dxl_model/xw540_t140.model b/param/dxl_model/xw540_t140.model
diff --git a/param/dxl_model/xw540_t260.model b/param/dxl_model/xw540_t260.model
diff --git a/param/dxl_model/ym070_210_a051.model b/param/dxl_model/ym070_210_a051.model
diff --git a/param/dxl_model/ym070_210_a099.model b/param/dxl_model/ym070_210_a099.model
diff --git a/param/dxl_model/ym070_210_b001.model b/param/dxl_model/ym070_210_b001.model
diff --git a/param/dxl_model/ym070_210_m001.model b/param/dxl_model/ym070_210_m001.model
diff --git a/param/dxl_model/ym070_210_r051.model b/param/dxl_model/ym070_210_r051.model
diff --git a/param/dxl_model/ym070_210_r099.model b/param/dxl_model/ym070_210_r099.model
diff --git a/param/dxl_model/ym080_230_a051.model b/param/dxl_model/ym080_230_a051.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_m001.model b/param/dxl_model/ym080_230_m001.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
