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Add new Dynamixel model files #72

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Merged
merged 6 commits into from
Aug 13, 2025
Merged

Add new Dynamixel model files #72

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ecb4106
refactor: Add new Dynamixel model files and update existing models
Woojin-Crive Jul 28, 2025
bae1f91
fix: Correct spacing in Dynamixel model file for better readability
Woojin-Crive Jul 28, 2025
0254467
refactor: Update Dynamixel model files to include external port data …
Woojin-Crive Aug 4, 2025
5f4c1fb
chore: Bump version to 1.4.12 and update CHANGELOG with support for a…
Woojin-Crive Aug 11, 2025
be81d36
feat: Add script to cluster Dynamixel model files by control table se…
Woojin-Crive Aug 11, 2025
77341ea
refactor: fix lint errors
Woojin-Crive Aug 11, 2025
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17 changes: 17 additions & 0 deletions param/dxl_model/dynamixel.model
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,10 @@
Number Name
30 mx_28.model
220 omy_hat.model
230 omy_end.model
231 omy_end_rh_p12_rn.model
311 mx_64.model
321 mx_106.model
350 xl320.model
536 sensorxel_joy.model
537 ffw_g40_imu.model
Expand Down Expand Up @@ -48,13 +51,27 @@ Number Name
1270 xw430_t333.model
1310 xw540_h260.model
2000 ph42_020_s300.model
2010 ph54_100_s500.model
2020 ph54_200_s500.model
2100 pm42_010_s260.model
2110 pm54_040_s250.model
2120 pm54_060_s250.model
4000 ym070_210_m001.model
4010 ym070_210_b001.model
4020 ym070_210_r051.model
4030 ym070_210_r099.model
4040 ym070_210_a051.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
4160 ym080_230_a051.model
4170 ym080_230_a099.model
35074 rh_p12_rn.model
43289 m42_10_s260_ra.model
46097 m54_40_s250_ra.model
46353 m54_60_s250_ra.model
51201 h42_20_s300_ra.model
53769 h54_100_s500_ra.model
54025 h54_200_s500_ra.model
78 changes: 78 additions & 0 deletions param/dxl_model/h42_20_s300_ra.model
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Original file line number Diff line number Diff line change
@@ -0,0 +1,78 @@
[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

[unit info]
Data Name value unit Sign Type
Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed

[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 ID
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
56 1 External Port Mode 1
57 1 External Port Mode 2
58 1 External Port Mode 3
59 1 External Port Mode 4
63 1 Shutdown
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
532 2 Position P Gain
530 2 Position I 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
168 2 Indirect Address 1
634 1 Indirect Data 1
168 2 Indirect Address Write
634 1 Indirect Data Write
296 2 Indirect Address Read
698 1 Indirect Data Read
78 changes: 78 additions & 0 deletions param/dxl_model/h54_100_s500_ra.model
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,78 @@
[type info]
name value
value_of_zero_radian_position 0
value_of_max_radian_position 501923
value_of_min_radian_position -501923
min_radian -3.14159265
max_radian 3.14159265

[unit info]
Data Name value unit Sign Type
Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed

[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 ID
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
56 1 External Port Mode 1
57 1 External Port Mode 2
58 1 External Port Mode 3
59 1 External Port Mode 4
63 1 Shutdown
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
532 2 Position P Gain
530 2 Position I 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
168 2 Indirect Address 1
634 1 Indirect Data 1
168 2 Indirect Address Write
634 1 Indirect Data Write
296 2 Indirect Address Read
698 1 Indirect Data Read
78 changes: 78 additions & 0 deletions param/dxl_model/h54_200_s500_ra.model
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,78 @@
[type info]
name value
value_of_zero_radian_position 0
value_of_max_radian_position 501923
value_of_min_radian_position -501923
min_radian -3.14159265
max_radian 3.14159265

[unit info]
Data Name value unit Sign Type
Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed

[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 ID
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
56 1 External Port Mode 1
57 1 External Port Mode 2
58 1 External Port Mode 3
59 1 External Port Mode 4
63 1 Shutdown
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
532 2 Position P Gain
530 2 Position I 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
168 2 Indirect Address 1
634 1 Indirect Data 1
168 2 Indirect Address Write
634 1 Indirect Data Write
296 2 Indirect Address Read
698 1 Indirect Data Read
78 changes: 78 additions & 0 deletions param/dxl_model/m42_10_s260_ra.model
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,78 @@
[type info]
name value
value_of_zero_radian_position 0
value_of_max_radian_position 263187
value_of_min_radian_position -263187
min_radian -3.14159265
max_radian 3.14159265

[unit info]
Data Name value unit Sign Type
Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed

[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 ID
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
56 1 External Port Mode 1
57 1 External Port Mode 2
58 1 External Port Mode 3
59 1 External Port Mode 4
63 1 Shutdown
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
532 2 Position P Gain
530 2 Position I 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
168 2 Indirect Address 1
634 1 Indirect Data 1
168 2 Indirect Address Write
634 1 Indirect Data Write
296 2 Indirect Address Read
698 1 Indirect Data Read
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