Add new Dynamixel model files #72
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Summary of Changes
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!
This pull request significantly expands the range of supported Dynamixel servo motors by integrating new model definitions and updating the central model registry. It also includes minor refinements to an existing model's configuration, enhancing compatibility and accuracy for robotic applications utilizing these actuators.
Highlights
- New Dynamixel Model Support: This pull request introduces support for 18 new Dynamixel servo motor models by adding their respective
.modelconfiguration files. These files define critical parameters such as radian limits, unit conversions, and a comprehensive control table for each motor. - Model Registry Update: The central
param/dxl_model/dynamixel.modelfile has been updated to include references to all the newly added Dynamixel models, ensuring they are properly registered and discoverable within the system. - Existing Model Refinement: An existing model definition,
ph42_020_s300.model, has been updated. This includes removing a redundant 'Velocity Limit' entry, renaming 'Secondary(Shadow) ID' to 'Secondary ID', and adding new control table entries for 'External Port Mode' and 'External Port Data' registers, likely reflecting firmware updates or improved parameter definitions.
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Code Review
This pull request adds new Dynamixel model files and updates the main model index. The changes look good overall. Please improve the consistency and maintainability of the new model files by sorting control table entries by their address and using consistent separators.
…ll Dynamixel models using protocol 2.0
Add new Dynamixel model files