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Add new model configuration for OMY end tool #54

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Merged
merged 6 commits into from
Jun 23, 2025
Merged

Add new model configuration for OMY end tool #54

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39ec66e
feat: Add new model configuration for omy_end_rh_p12_rn and update dy…
Woojin-Crive Jun 20, 2025
820bd44
feat: Enhance data handling in SetDxlValueToSyncWrite and SetDxlValue…
Woojin-Crive Jun 20, 2025
6e9a7bc
feat: Add indirect data handling to omy_hat model with new read and w…
Woojin-Crive Jun 20, 2025
e4e8544
refactor: Remove unused parameters from omy_end model configuration
Woojin-Crive Jun 23, 2025
d7f8428
feat: Update joint synchronization process by adding prior goal posit…
Woojin-Crive Jun 23, 2025
710eab9
chore: Bump version to 1.4.8 and update changelog with new OMY model …
Woojin-Crive Jun 23, 2025
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1 change: 1 addition & 0 deletions param/dxl_model/dynamixel.model
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@ Number Name
35074 rh_p12_rn.model
220 omy_hat.model
230 omy_end.model
231 omy_end_rh_p12_rn.model
536 sensorxel_joy.model
600 sensorxel_joy.model
602 ffw_g10_rcu.model
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10 changes: 0 additions & 10 deletions param/dxl_model/omy_end.model
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Original file line number Diff line number Diff line change
Expand Up @@ -35,16 +35,6 @@ Address Size Data Name
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
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21 changes: 21 additions & 0 deletions param/dxl_model/omy_end_rh_p12_rn.model
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Original file line number Diff line number Diff line change
@@ -0,0 +1,21 @@
[type info]
name value
value_of_zero_radian_position 0
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
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
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