Add OMY dynamixel model files #23
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- Add omy_hat.model and omy_end.model to supported dynamixel models - Update dynamixel.model to include new OMY models (220 and 230) - Update gitignore to ensure model files are tracked
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Hello @Woojin-Crive, I'm Gemini Code Assist1! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!
Summary of Changes
This pull request adds new dynamixel model files for OMY series dynamixel servos. Specifically, it introduces omy_hat.model and omy_end.model, and updates the dynamixel.model file to include these new models with IDs 220 and 230 respectively. Additionally, the .gitignore file is updated to ensure that .model files are tracked in the repository.
Highlights
- New Dynamixel Models: Adds
omy_hat.modelandomy_end.modelto the supported dynamixel models. - Dynamixel Model List Update: Updates
dynamixel.modelto include the new OMY models (220 and 230). - Git Ignore Update: Updates
.gitignoreto ensure model files are tracked.
Changelog
- .gitignore
- Added a rule to track
.modelfiles, ensuring they are not ignored by Git. Specifically, the line!*.modelwas added to the file.
- Added a rule to track
- param/dxl_model/dynamixel.model
- Added entries for the new OMY models:
220 omy_hat.modeland230 omy_end.model.
- Added entries for the new OMY models:
- param/dxl_model/omy_end.model
- Created a new model file
omy_end.modelcontaining the control table and type information for the OMY end effector dynamixel model, including parameters likevalue_of_zero_radian_position,max_radian,min_radian, and various control table addresses and data names.
- Created a new model file
- param/dxl_model/omy_hat.model
- Created a new model file
omy_hat.modelcontaining the control table for the OMY hat dynamixel model, including parameters likeDB Voltage,SyncTablesettings, and LED control.
- Created a new model file
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Trivia time!
What is the primary function of a Dynamixel servo in robotics?
Click here for the answer
Dynamixel servos are primarily used for precise and controlled motion in robotic systems, offering features like position, velocity, and torque control, as well as feedback on their current state.
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Code Review
This pull request adds model files for OMY Dynamixel devices and updates the .gitignore file to track .model files. The changes seem straightforward and necessary for supporting these new devices. However, there are a few points that need attention.
Summary of Findings
- Missing Model Number Validation: The
dynamixel.modelfile update adds new model numbers (220 and 230) without any validation or checks in the code to ensure these are valid or expected values. This could lead to issues if the hardware interface receives unexpected model numbers. - Incomplete Control Table Definitions: The
omy_hat.modelandomy_end.modelfiles define control tables, but it's unclear if all necessary parameters are included. A more thorough review of the Dynamixel documentation is needed to ensure completeness. - Lack of Unit Tests: There are no new unit tests included in this pull request to verify the correct loading and parsing of the new model files. Unit tests are essential to ensure the robustness of the code.
Merge Readiness
The pull request introduces necessary model files for new Dynamixel devices. However, the lack of validation for model numbers and the absence of unit tests raise concerns. It is recommended to address these issues before merging. I am unable to approve this pull request, and recommend that others review and approve this code before merging.
| 220 omy_hat.model | ||
| 230 omy_end.model |
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Adding the new OMY models here is good, but is there any validation in the code to ensure that these are expected values? Without validation, unexpected model numbers could cause issues. Consider adding a comment explaining the source of these model numbers.
# OMY Dynamixel Models
220\tomy_hat.model
230\tomy_end.model
| [type info] | ||
| name value | ||
| value_of_zero_radian_position 0 | ||
| value_of_max_radian_position 740 | ||
| value_of_min_radian_position 0 | ||
| min_radian 0.0 | ||
| max_radian 1.099 | ||
|
|
||
| [control table] | ||
| Address Size Data Name | ||
| 0 2 Model Number | ||
| 2 4 Model Information | ||
| 6 1 Firmware Version | ||
| 7 1 ID | ||
| 8 1 Baud Rate (Bus) | ||
| 10 1 Tool Analog Enable | ||
| 11 1 Tool Baud Rate | ||
| 12 1 Tool Protocol | ||
| 13 1 Tool ID | ||
| 14 1 Tool Status | ||
| 30 1 Button Status | ||
| 32 1 R LED | ||
| 33 1 G LED | ||
| 34 1 B LED | ||
| 36 2 Realtime Tick | ||
| 40 1 Digital Input | ||
| 41 1 Digital Output | ||
| 42 2 Analog Input1 | ||
| 44 2 Analog Input2 | ||
| 46 1 SyncTable Enable | ||
| 48 2 SyncTable Read Address | ||
| 52 2 SyncTable Read Size | ||
| 56 2 SyncTable Write Address | ||
| 60 2 SyncTable Write Size | ||
| 378 2 Indirect Address | ||
| 634 1 Indirect Data | ||
| 72 1 Hardware Error Status | ||
| 73 1 Moving | ||
| 74 2 Present Current | ||
| 76 4 Present Velocity | ||
| 80 4 Present Position | ||
| 84 4 Position Trajectory | ||
| 200 1 Torque Enable | ||
| 202 2 Goal Current | ||
| 204 4 Goal Velocity | ||
| 208 4 Goal Position | ||
| 378 2 Indirect Address 1 | ||
| 634 1 Indirect Data 1 | ||
| 378 2 Indirect Address Write | ||
| 634 1 Indirect Data Write | ||
| 402 2 Indirect Address Read | ||
| 646 1 Indirect Data Read |
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This file defines the control table for the omy_end model. It's important to ensure that all necessary parameters are included and correctly defined. Double-check against the Dynamixel documentation for this model to ensure completeness. Are the min/max radian values correct?
| [control table] | ||
| Address Size Data Name | ||
| 0 2 Model Number | ||
| 2 4 Model Information | ||
| 6 1 Firmware Version | ||
| 7 1 ID | ||
| 8 1 Baud Rate (Bus) | ||
| 9 1 DXL Baud Rate | ||
| 10 2 DB Voltage | ||
| 12 1 DB Voltage Thresh | ||
| 14 2 DB Voltage D Gain | ||
| 16 2 DB Voltage I Gain | ||
| 18 2 DB Voltage P Gain | ||
| 20 1 SyncTable ID | ||
| 30 2 SyncTable Read Address | ||
| 50 2 SyncTable Read Size | ||
| 70 2 SyncTable Write Address | ||
| 90 2 SyncTable Write Size | ||
| 110 2 SyncTable Period | ||
| 112 2 Indirect Address | ||
| 512 1 Power Enable | ||
| 513 1 Voltage Control Enable | ||
| 514 1 Table Sync Enable | ||
| 515 1 R LED | ||
| 516 1 G LED | ||
| 517 1 B LED | ||
| 518 1 Status | ||
| 519 1 EMG Power Ctrl | ||
| 520 2 Realtime Tick | ||
| 522 2 Present Input Voltage | ||
| 524 2 Present Input Current | ||
| 550 1 Status Return Level | ||
| 560 1 SyncTable Read Data | ||
| 688 1 SyncTable Write Data | ||
| 816 1 Indirect Data |
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Similar to omy_end.model, this file defines the control table for the omy_hat model. Ensure all necessary parameters are included and correctly defined. A thorough review of the Dynamixel documentation is needed to confirm completeness.
Changes