Support Torque constant for Dynamixel Y 99 reducer models #80
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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 introduces support for torque constants for specific Dynamixel Y 99:1 reducer models. The changes ensure that the system correctly represents the physical properties of these devices by updating their current measurement units and values from raw units to Newton-meters.
Highlights
- Torque Constant Support: Added support for torque constants for Dynamixel Y 99:1 reducer models.
- Model File Updates: Updated the
Present CurrentandGoal Currentvalues and units inym070_210_a099.modelandym080_230_a099.modelto reflect accurate torque constants in Newton-meters (N/m).
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Code Review
This pull request updates the model files for Dynamixel Y 99:1 reducer models (ym070_210_a099 and ym080_230_a099) to include torque constants for current-to-torque conversion. The changes are straightforward, but I've noticed a likely typo in the unit for torque (N/m instead of N.m or N*m) in both updated files. I've left specific suggestions to correct this.
Support Torque constant for Dynamixel Y 99:1 reducer models