Bump 1.4.14 #82
Bump 1.4.14 #82
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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 bump to 1.4.14 for the dynamixel_hardware_interface package. This update includes a refinement of current unit definitions within specific Dynamixel model configuration files, ensuring more accurate representation of current values.
Highlights
- Version Bump: The package version has been updated from 1.4.13 to 1.4.14.
- 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 files, along with corresponding value adjustments.
- Changelog Entry: A new entry for version 1.4.14 has been added to the CHANGELOG.rst file, documenting the model file changes.
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Code Review
This pull request bumps the package version to 1.4.14 and updates the model files for YM070-210-*099 and YM080-230-*099 Dynamixel motors. The changes correctly specify the units for Present Current and Goal Current, changing them from raw values. However, it seems there is a typo in the new unit, N/m. I've left comments suggesting a correction to N.m if it represents torque, which is a more appropriate unit. Otherwise, the changes look good.
| 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 (Newtons per meter), which is likely a typo. This unit typically represents stiffness. If this value is for torque, the correct unit would be N.m (Newton-meters). If it's for electrical current, it should be A (Amperes). Please update the unit to reflect the correct physical quantity. I've suggested N.m assuming this is for torque control.
Present Current 0.04 N.m signed
Goal Current 0.04 N.m 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 (Newtons per meter), which is likely a typo. This unit typically represents stiffness. If this value is for torque, the correct unit would be N.m (Newton-meters). If it's for electrical current, it should be A (Amperes). Please update the unit to reflect the correct physical quantity. I've suggested N.m assuming this is for torque control.
Present Current 0.04 N.m signed
Goal Current 0.04 N.m 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 (Newtons per meter), which is likely a typo. This unit typically represents stiffness. If this value is for torque, the correct unit would be N.m (Newton-meters). If it's for electrical current, it should be A (Amperes). Please update the unit to reflect the correct physical quantity. I've suggested N.m assuming this is for torque control.
Present Current 0.07692307692 N.m signed
Goal Current 0.07692307692 N.m 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 (Newtons per meter), which is likely a typo. This unit typically represents stiffness. If this value is for torque, the correct unit would be N.m (Newton-meters). If it's for electrical current, it should be A (Amperes). Please update the unit to reflect the correct physical quantity. I've suggested N.m assuming this is for torque control.
Present Current 0.07692307692 N.m signed
Goal Current 0.07692307692 N.m signed
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