Bump 1.4.14 #81
Bump 1.4.14 #81
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Support Torque constant for Dynamixel Y 99 reducer models
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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 primarily focuses on a version increment and a refinement of unit definitions within specific Dynamixel model configuration files. The changes aim to improve the accuracy of hardware interface parameters by correctly specifying current units.
Highlights
- Version Bump: The project version has been updated from 1.4.13 to 1.4.14.
- Dynamixel Model File Updates: Current units for specific Dynamixel models (YM070-210-*099 and YM080-230-*099) have been updated from 'raw' to 'N/m' in their respective model configuration files, along with corresponding value adjustments.
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Code Review
This pull request bumps the package version to 1.4.14 and updates the current units for several Dynamixel motor models. The version bump and changelog updates are correct. However, there appears to be a typo in the specified units for current in the model files. I've added comments with suggestions to correct the unit from N/m to Nm, as torque is measured in Newton-meters.
| Present Current 0.04 N/m signed | ||
| Goal Current 0.04 N/m signed |
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The unit for Present Current and Goal Current is specified as N/m. This unit represents Newtons per meter, which is a measure of stiffness. For current control that corresponds to torque control, the unit for torque should be Newton-meters, which is represented as Nm. This appears to be a typo.
Present Current 0.04 Nm signed
Goal Current 0.04 Nm signed
| Present Current 0.04 N/m signed | ||
| Goal Current 0.04 N/m signed |
There was a problem hiding this comment.
The unit for Present Current and Goal Current is specified as N/m. This unit represents Newtons per meter, which is a measure of stiffness. For current control that corresponds to torque control, the unit for torque should be Newton-meters, which is represented as Nm. This appears to be a typo.
Present Current 0.04 Nm signed
Goal Current 0.04 Nm signed
| Present Current 0.07692307692 N/m signed | ||
| Goal Current 0.07692307692 N/m signed |
There was a problem hiding this comment.
The unit for Present Current and Goal Current is specified as N/m. This unit represents Newtons per meter, which is a measure of stiffness. For current control that corresponds to torque control, the unit for torque should be Newton-meters, which is represented as Nm. This appears to be a typo.
Present Current 0.07692307692 Nm signed
Goal Current 0.07692307692 Nm signed
| Present Current 0.07692307692 N/m signed | ||
| Goal Current 0.07692307692 N/m signed |
There was a problem hiding this comment.
The unit for Present Current and Goal Current is specified as N/m. This unit represents Newtons per meter, which is a measure of stiffness. For current control that corresponds to torque control, the unit for torque should be Newton-meters, which is represented as Nm. This appears to be a typo.
Present Current 0.07692307692 Nm signed
Goal Current 0.07692307692 Nm signed
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