Modified the model file

CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package dynamixel_hardware_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.4.1 (2025-03-31)
+------------------
+* Modified the Model File
+* Contributors: Wonho Yun
+
 1.4.0 (2025-03-20)
 ------------------
 * Added Torque Constant Parameter to DXL Model Files

package.xml

@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='UTF-8'?>
 <package format="3">
   <name>dynamixel_hardware_interface</name>
-  <version>1.4.0</version>
+  <version>1.4.1</version>
   <description>
     ROS 2 package providing a hardware interface for controlling Dynamixel motors via the ROS 2 control framework.
   </description>

param/dxl_model/dynamixel.model

@@ -33,11 +33,13 @@ Number	Name
 1240	xc330_m288.model
 1270	xw430_t333.model
 1310	xw540_h260.model
+2000    ph42_020_s300.model
 4000	ym070_210_m001.model
 4020	ym070_210_r051.model
 4030	ym070_210_r099.model
 4050	ym070_210_a099.model
 4120	ym080_230_m001.model
+4130    ym080_230_b001.model
 4140	ym080_230_r051.model
 4150	ym080_230_r099.model
 4170	ym080_230_a099.model

param/dxl_model/ph42_020_s300.model

@@ -0,0 +1,68 @@
+[type info]
+name	value
+value_of_zero_radian_position	0
+value_of_max_radian_position	303750
+value_of_min_radian_position	-303750
+min_radian	-3.14159265
+max_radian	3.14159265
+
+[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
+9	1	Return Delay Time
+10	1	Drive Mode
+11	1	Operating Mode
+12	1	Secondary(Shadow) ID
+13	1	Protocol Type
+20	4	Homing Offset
+24	4	Moving Threshold
+31	1	Temperature Limit
+32	2	Max Voltage Limit
+34	2	Min Voltage Limit
+36	2	PWM Limit
+38	2	Current Limit
+40	4	Acceleration Limit
+44	4	Velocity Limit
+48	4	Max Position Limit
+52	4	Min Position Limit
+512	1	Torque Enable
+513	1	LED Red
+514	1	LED Green
+515	1	LED Blue
+516	1	Status Return Level
+517	1	Registered Instruction
+518	1	Hardware Error Status
+524	2	Velocity I Gain
+526	2	Velocity P Gain
+528	2	Position D Gain
+530	2	Position I Gain
+532	2	Position P Gain
+536	2	Feedforward 2nd Gain
+538	2	Feedforward 1st Gain
+546	1	Bus Watchdog
+548	2	Goal PWM
+550	2	Goal Current
+552	4	Goal Velocity
+556	4	Profile Acceleration
+560	4	Profile Velocity
+564	4	Goal Position
+568	2	Realtime Tick
+570	1	Moving
+571	1	Moving Status
+572	2	Present PWM
+574	2	Present Current
+576	4	Present Velocity
+580	4	Present Position
+584	4	Velocity Trajectory
+588	4	Position Trajectory
+592	2	Present Input Voltage
+594	1	Present Temperature
+878	1	Backup Ready
+168	2	Indirect Address Write
+634	1	Indirect Data Write
+350	2	Indirect Address Read
+698	1	Indirect Data Read

param/dxl_model/xh430_v210.model

@@ -64,4 +64,4 @@ Address	Size	Data Name
 168	2	Indirect Address Write
 224	1	Indirect Data Write
 578	2	Indirect Address Read
-634	1	Indirect Data Read
+634	1	Indirect Data Read

param/dxl_model/ym070_210_r099.model

@@ -1,8 +1,8 @@
 [type info]
 name	value
-value_of_zero_radian_position	25952256
-value_of_max_radian_position	51904511
-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
 

param/dxl_model/ym080_230_b001.model

@@ -0,0 +1,96 @@
+[type info]
+name	value
+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
+
+[control table]
+Address	Size	Data Name
+0	2	Model Number
+2	4	Model Information
+6	1	Firmware Version
+7	1	ID
+8	2	Bus Watchdog
+10	1	Secondary(Shadow) ID
+11	1	Protocol Type
+12	1	Baud Rate (Bus)
+13	1	Return Delay Time
+15	1	Status Return Level
+16	1	Registered Instruction
+32	1	Drive Mode
+33	1	Operating Mode
+34	1	Startup Configuration
+38	2	Position Limit Threshold
+40	4	In-Position Threshold
+44	4	Following Error Threshold
+48	4	Moving Threshold
+52	4	Homing Offset
+56	1	Inverter Temperature Limit
+57	1	Motor Temperature Limit
+60	2	Max Voltage Limit
+62	2	Min Voltage Limit
+64	2	PWM Limit
+66	2	Current Limit
+68	4	Acceleration Limit
+72	4	Velocity Limit
+76	4	Max Position Limit
+84	4	Min Position Limit
+96	4	Electronic GearRatio Numerator
+100	4	Electronic GearRatio Denominator
+104	2	Safe Stop Time
+106	2	Brake Delay
+108	2	Goal Update Delay
+110	1	Overexcitation Voltage
+111	1	Normal Excitation Voltage
+112	2	Overexcitation Time
+132	2	Present Velocity LPF Frequency
+134	2	Goal Current LPF Frequency
+136	2	Position FF LPF Time
+138	2	Velocity FF LPF Time
+152	1	Controller State
+153	1	Error Code
+154	1	Error Code History 1
+155	1	Error Code History 2
+168	1	Error Code History 15
+169	1	Error Code History 16
+170	1	Hybrid Save
+212	4	Velocity I Gain
+216	4	Velocity P Gain
+220	4	Velocity FF Gain
+224	4	Position D Gain
+228	4	Position I Gain
+232	4	Position P Gain
+236	4	Position FF Gain
+240	4	Profile Acceleration
+244	4	Profile Velocity
+248	4	Profile Acceleration Time
+252	4	Profile Time
+256	2	Indirect Address 1
+512	1	Torque Enable
+513	1	LED
+516	2	PWM Offset
+518	2	Current Offset
+520	4	Velocity Offset
+524	2	Goal PWM
+526	2	Goal Current
+528	4	Goal Velocity
+532	4	Goal Position
+541	1	Moving Status
+542	2	Realtime Tick
+544	2	Present PWM
+546	2	Present Current
+548	4	Present Velocity
+552	4	Present Position
+560	4	Position Trajectory
+564	4	Velocity Trajectory
+568	2	Present Input Voltage
+570	1	Present Inverter Temperature
+571	1	Present Motor Temperature
+634	1	Indirect Data 1
+919	1	Backup Ready
+256	2	Indirect Address Write
+634	1	Indirect Data Write
+384	2	Indirect Address Read
+698	1	Indirect Data Read

param/dxl_model/ym080_230_r099.model

@@ -1,8 +1,8 @@
 [type info]
 name	value
-value_of_zero_radian_position	25952256
-value_of_max_radian_position	51904511
-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