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Merged
merged 2 commits into from
Oct 14, 2025
Merged

Support default unit for Present Input Voltage in model files #90

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8999562
chore: Bump version to 1.4.16 and update CHANGELOG with support for P…
Woojin-Crive Oct 14, 2025
ab71fd5
fix: Correct Present Input Voltage value in omy_hat model file from 0…
Woojin-Crive Oct 14, 2025
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5 changes: 5 additions & 0 deletions CHANGELOG.rst
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Changelog for package dynamixel_hardware_interface
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

1.4.16 (2025-10-14)
-------------------
* Added support for default unit information for Present Input Voltage to model files
* Contributors: Woojin Wie

1.4.15 (2025-09-17)
-------------------
* Added support for hardware error handling for Dynamixel Y series
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2 changes: 1 addition & 1 deletion package.xml
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Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>dynamixel_hardware_interface</name>
<version>1.4.15</version>
<version>1.4.16</version>
<description>
ROS 2 package providing a hardware interface for controlling Dynamixel motors via the ROS 2 control framework.
</description>
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1 change: 1 addition & 0 deletions param/dxl_model/2xc430_w250.model
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Expand Up @@ -10,6 +10,7 @@ max_radian 3.14159265
Data Name value unit Sign Type
Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Input Voltage 0.1 V unsigned

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1 change: 1 addition & 0 deletions param/dxl_model/2xl430_w250.model
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Expand Up @@ -10,6 +10,7 @@ max_radian 3.14159265
Data Name value unit Sign Type
Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/ffw_sg2_drive_1.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/ffw_sg2_drive_2.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/ffw_sg2_drive_3.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/ffw_sg2_steer_1.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/ffw_sg2_steer_2.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/ffw_sg2_steer_3.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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1 change: 1 addition & 0 deletions param/dxl_model/h42_20_s300_ra.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/h54_100_s500_ra.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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1 change: 1 addition & 0 deletions param/dxl_model/h54_200_s500_ra.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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1 change: 1 addition & 0 deletions param/dxl_model/m42_10_s260_ra.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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1 change: 1 addition & 0 deletions param/dxl_model/m54_40_s250_ra.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/m54_60_s250_ra.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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1 change: 1 addition & 0 deletions param/dxl_model/mx_106.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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1 change: 1 addition & 0 deletions param/dxl_model/mx_28.model
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Expand Up @@ -10,6 +10,7 @@ max_radian 3.14159265
Data Name value unit Sign Type
Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/mx_64.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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4 changes: 4 additions & 0 deletions param/dxl_model/omy_hat.model
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@@ -1,3 +1,7 @@
[unit info]
Data Name value unit Sign Type
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
0 2 Model Number
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1 change: 1 addition & 0 deletions param/dxl_model/ph42_020_s300.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/ph54_100_s500.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/ph54_200_s500.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/pm42_010_s260.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/pm54_040_s250.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/pm54_060_s250.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed
Goal Velocity 0.0010471976 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/rh_p12_rn.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0119380521 rad/s signed
Goal Velocity 0.0119380521 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/xc330_m181.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/xc330_m181_fw52.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/xc330_m288.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/xc330_m288_fw52.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/xc330_t181.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 0.0006709470296015791 N/m signed
Goal Current 0.0006709470296015791 N/m signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/xc330_t181_fw52.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 0.0006709470296015791 N/m signed
Goal Current 0.0006709470296015791 N/m signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/xc330_t288.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 0.0009674796739867748 N/m signed
Goal Current 0.0009674796739867748 N/m signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/xc330_t288_fw52.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 0.0009674796739867748 N/m signed
Goal Current 0.0009674796739867748 N/m signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/xc430_w150.model
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Expand Up @@ -10,6 +10,7 @@ max_radian 3.14159265
Data Name value unit Sign Type
Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/xc430_w240.model
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Expand Up @@ -10,6 +10,7 @@ max_radian 3.14159265
Data Name value unit Sign Type
Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Input Voltage 0.1 V unsigned

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1 change: 1 addition & 0 deletions param/dxl_model/xd430_t210.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/xd430_t350.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/xd540_t150.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/xd540_t270.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/xh430_v210.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/xh430_v350.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/xh430_w210.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/xh430_w350.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/xh540_v150.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/xh540_v270.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

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Address Size Data Name
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1 change: 1 addition & 0 deletions param/dxl_model/xh540_w150.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 0.0045 N/m signed
Goal Current 0.0045 N/m signed
Present Input Voltage 0.1 V unsigned

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1 change: 1 addition & 0 deletions param/dxl_model/xh540_w270.model
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Expand Up @@ -12,6 +12,7 @@ Present Velocity 0.0239691227 rad/s signed
Goal Velocity 0.0239691227 rad/s signed
Present Current 1.0 raw signed
Goal Current 1.0 raw signed
Present Input Voltage 0.1 V unsigned

[control table]
Address Size Data Name
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