Bump 1.4.12 #74
Bump 1.4.12 #74
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…ll Dynamixel models using protocol 2.0
Add new Dynamixel model files
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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 updates the package version to 1.4.12 and significantly expands support for Dynamixel motors by adding numerous new model definitions for Protocol 2.0 compatible devices. It also includes a new utility script for managing these model files.
Highlights
- Version Update: The package version has been bumped to 1.4.12.
- Expanded Dynamixel Support: Comprehensive support for new Dynamixel models that utilize Protocol 2.0 has been integrated.
- New Model Definitions: Multiple new .model files have been added under param/dxl_model/ to define the control tables and parameters for various Dynamixel motors, including MX, PH, PM, H, and M series.
- Model File Updates: The main dynamixel.model file has been updated to include references to these newly added models. An existing model file (ph42_020_s300.model) was also refined to correct control table entries and add external port modes.
- Model Clustering Script: A new Python script, scripts/cluster_model_files.py, has been introduced to help identify and manage duplicate control table definitions across model files.
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Code Review
This pull request bumps the package version to 1.4.12 and adds support for a wide range of new Dynamixel models by including their definition files. A new Python script is also introduced to help manage these model files by clustering those with identical control tables. My review focuses on improving the maintainability of the model index file and enhancing the robustness of the new script. Overall, the changes are a valuable addition for supporting more hardware.
| @@ -1,7 +1,10 @@ | |||
| Number Name | |||
| 30 mx_28.model | |||
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For better readability and maintainability, it would be beneficial to keep the model numbers in this file sorted numerically. For example, the newly added model 30 is placed before 220. Sorting all entries would make it easier to find models and verify the list.
| MODEL_DIR = os.path.join(os.path.dirname(__file__), '..', 'param', 'dxl_model') | ||
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| # Get all files in the model directory | ||
| files = [f for f in os.listdir(MODEL_DIR) if os.path.isfile(os.path.join(MODEL_DIR, f))] |
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The current logic for getting files includes dynamixel.model, which is an index file, not a model definition file. This could lead to it being processed unnecessarily. It would be more robust to explicitly exclude it from the list of files to be processed.
| files = [f for f in os.listdir(MODEL_DIR) if os.path.isfile(os.path.join(MODEL_DIR, f))] | |
| files = [f for f in os.listdir(MODEL_DIR) if f != 'dynamixel.model' and os.path.isfile(os.path.join(MODEL_DIR, f))] |
| if line.startswith('[') and not line.strip().startswith('[control table]'): | ||
| break |
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The logic to detect the end of the [control table] section can be simplified. The current implementation is a bit complex and might not behave as expected if another [control table] section is encountered. A simpler check for any new section start ([) would be more robust and clearer.
| if line.startswith('[') and not line.strip().startswith('[control table]'): | |
| break | |
| if line.startswith('['): | |
| break |
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