Modified the model file

[yun-goon]

Description

Modified the model file about ym080_230_r099.model, ym070_210_r099.model
Added ph42_020_s300.model

[gemini-code-assist]

Hello @yun-goon, 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 modifies the dynamixel motor model files. It updates the package version and changelog, modifies existing model files (ym070_210_r099.model, ym080_230_r099.model) to adjust radian position values, and adds a new model file (ph42_020_s300.model). The changes appear to be related to adjustments or additions of dynamixel motor configurations within the dynamixel_hardware_interface package.

Highlights

• Model File Modification: Modified existing dynamixel motor model files ym070_210_r099.model and ym080_230_r099.model, updating the value_of_zero_radian_position, value_of_max_radian_position, and value_of_min_radian_position.
• New Model File: Added a new dynamixel motor model file ph42_020_s300.model, which includes type information and a control table defining various parameters for the motor.
• Package Update: Updated the package version in package.xml from 1.4.0 to 1.4.1 and added a corresponding entry in CHANGELOG.rst.

Changelog

Click here to see the changelog

• CHANGELOG.rst
  • Added a changelog entry for version 1.4.1, noting the modification of the model file.
• package.xml
  • Updated the package version from 1.4.0 to 1.4.1.
• param/dxl_model/dynamixel.model
  • Added ph42_020_s300.model to the list of available dynamixel models.
• param/dxl_model/ph42_020_s300.model
  • Added a new model file defining parameters for the ph42_020_s300 dynamixel motor.
• param/dxl_model/ym070_210_r099.model
  • Modified the value_of_zero_radian_position, value_of_max_radian_position, and value_of_min_radian_position.
• param/dxl_model/ym080_230_r099.model
  • Modified the value_of_zero_radian_position, value_of_max_radian_position, and value_of_min_radian_position.

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[gemini-code-assist]

Code Review

The pull request modifies model files and adds a new model file for Dynamixel servos. The changes include updating version numbers in package.xml and CHANGELOG.rst, modifying existing model files (ym070_210_r099.model, ym080_230_r099.model), and adding a new model file (ph42_020_s300.model).

Summary of Findings

• Model File Consistency: The changes to the radian position values in ym070_210_r099.model and ym080_230_r099.model should be verified for correctness and impact on the robot's behavior. Ensure that the new values align with the actual servo's specifications.
• Missing Model Number: The ph42_020_s300.model file does not contain the model number. This should be added to the [type info] section to ensure proper identification and usage of the model.

Merge Readiness

The pull request introduces important changes to the Dynamixel model files. Before merging, it's crucial to verify the correctness of the updated radian position values and ensure that the new model file includes all necessary information, such as the model number. I am unable to approve this pull request, and recommend that another reviewer also takes a look before merging.

[GyuH13]

Great works

[robotpilot]

I have a minor comment.

[robotpilot]

LGTM, However, I recommend using space and not tab.