From 89995624c0e6906f713bcb34246347d2085fe836 Mon Sep 17 00:00:00 2001 From: Woojin Wie Date: Tue, 14 Oct 2025 11:02:56 +0900 Subject: [PATCH 1/2] chore: Bump version to 1.4.16 and update CHANGELOG with support for Present Input Voltage in model files --- CHANGELOG.rst | 5 +++++ package.xml | 2 +- param/dxl_model/2xc430_w250.model | 1 + param/dxl_model/2xl430_w250.model | 1 + param/dxl_model/ffw_sg2_drive_1.model | 1 + param/dxl_model/ffw_sg2_drive_2.model | 1 + param/dxl_model/ffw_sg2_drive_3.model | 1 + param/dxl_model/ffw_sg2_steer_1.model | 1 + param/dxl_model/ffw_sg2_steer_2.model | 1 + param/dxl_model/ffw_sg2_steer_3.model | 1 + param/dxl_model/h42_20_s300_ra.model | 1 + param/dxl_model/h54_100_s500_ra.model | 1 + param/dxl_model/h54_200_s500_ra.model | 1 + param/dxl_model/m42_10_s260_ra.model | 1 + param/dxl_model/m54_40_s250_ra.model | 1 + param/dxl_model/m54_60_s250_ra.model | 1 + param/dxl_model/mx_106.model | 1 + param/dxl_model/mx_28.model | 1 + param/dxl_model/mx_64.model | 1 + param/dxl_model/omy_hat.model | 4 ++++ param/dxl_model/ph42_020_s300.model | 1 + param/dxl_model/ph54_100_s500.model | 1 + param/dxl_model/ph54_200_s500.model | 1 + param/dxl_model/pm42_010_s260.model | 1 + param/dxl_model/pm54_040_s250.model | 1 + param/dxl_model/pm54_060_s250.model | 1 + param/dxl_model/rh_p12_rn.model | 1 + param/dxl_model/xc330_m181.model | 1 + param/dxl_model/xc330_m181_fw52.model | 1 + param/dxl_model/xc330_m288.model | 1 + param/dxl_model/xc330_m288_fw52.model | 1 + param/dxl_model/xc330_t181.model | 1 + param/dxl_model/xc330_t181_fw52.model | 1 + param/dxl_model/xc330_t288.model | 1 + param/dxl_model/xc330_t288_fw52.model | 1 + param/dxl_model/xc430_w150.model | 1 + param/dxl_model/xc430_w240.model | 1 + param/dxl_model/xd430_t210.model | 1 + param/dxl_model/xd430_t350.model | 1 + param/dxl_model/xd540_t150.model | 1 + param/dxl_model/xd540_t270.model | 1 + param/dxl_model/xh430_v210.model | 1 + param/dxl_model/xh430_v350.model | 1 + param/dxl_model/xh430_w210.model | 1 + param/dxl_model/xh430_w350.model | 1 + param/dxl_model/xh540_v150.model | 1 + param/dxl_model/xh540_v270.model | 1 + param/dxl_model/xh540_w150.model | 1 + param/dxl_model/xh540_w270.model | 1 + param/dxl_model/xl330_m077.model | 1 + param/dxl_model/xl330_m077_fw52.model | 1 + param/dxl_model/xl330_m288.model | 1 + param/dxl_model/xl330_m288_fw52.model | 1 + param/dxl_model/xl430_w250.model | 1 + param/dxl_model/xm430_w210.model | 1 + param/dxl_model/xm430_w350.model | 1 + param/dxl_model/xm540_w150.model | 1 + param/dxl_model/xm540_w270.model | 1 + param/dxl_model/xw430_t200.model | 1 + param/dxl_model/xw430_t333.model | 1 + param/dxl_model/xw540_h260.model | 1 + param/dxl_model/xw540_t140.model | 1 + param/dxl_model/xw540_t260.model | 1 + param/dxl_model/ym070_210_a051.model | 1 + param/dxl_model/ym070_210_a099.model | 1 + param/dxl_model/ym070_210_b001.model | 1 + param/dxl_model/ym070_210_m001.model | 1 + param/dxl_model/ym070_210_r051.model | 1 + param/dxl_model/ym070_210_r099.model | 1 + param/dxl_model/ym080_230_a051.model | 1 + param/dxl_model/ym080_230_a099.model | 1 + param/dxl_model/ym080_230_b001.model | 1 + param/dxl_model/ym080_230_m001.model | 1 + param/dxl_model/ym080_230_r051.model | 1 + param/dxl_model/ym080_230_r099.model | 1 + 75 files changed, 82 insertions(+), 1 deletion(-) diff --git a/CHANGELOG.rst b/CHANGELOG.rst index b8f6384..a8505a5 100644 --- a/CHANGELOG.rst +++ b/CHANGELOG.rst @@ -2,6 +2,11 @@ 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 diff --git a/package.xml b/package.xml index 5b9cf37..f345ade 100644 --- a/package.xml +++ b/package.xml @@ -2,7 +2,7 @@ dynamixel_hardware_interface - 1.4.15 + 1.4.16 ROS 2 package providing a hardware interface for controlling Dynamixel motors via the ROS 2 control framework. diff --git a/param/dxl_model/2xc430_w250.model b/param/dxl_model/2xc430_w250.model index deb48f6..4144035 100644 --- a/param/dxl_model/2xc430_w250.model +++ b/param/dxl_model/2xc430_w250.model @@ -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 diff --git a/param/dxl_model/2xl430_w250.model b/param/dxl_model/2xl430_w250.model index deb48f6..4144035 100644 --- a/param/dxl_model/2xl430_w250.model +++ b/param/dxl_model/2xl430_w250.model @@ -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 diff --git a/param/dxl_model/ffw_sg2_drive_1.model b/param/dxl_model/ffw_sg2_drive_1.model index aabae09..d14fdc1 100644 --- a/param/dxl_model/ffw_sg2_drive_1.model +++ b/param/dxl_model/ffw_sg2_drive_1.model @@ -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 diff --git a/param/dxl_model/ffw_sg2_drive_2.model b/param/dxl_model/ffw_sg2_drive_2.model index a58b194..1c298c2 100644 --- a/param/dxl_model/ffw_sg2_drive_2.model +++ b/param/dxl_model/ffw_sg2_drive_2.model @@ -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 diff --git a/param/dxl_model/ffw_sg2_drive_3.model b/param/dxl_model/ffw_sg2_drive_3.model index e8ba508..15e51e7 100644 --- a/param/dxl_model/ffw_sg2_drive_3.model +++ b/param/dxl_model/ffw_sg2_drive_3.model @@ -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 diff --git a/param/dxl_model/ffw_sg2_steer_1.model b/param/dxl_model/ffw_sg2_steer_1.model index 7814e52..5770dcc 100644 --- a/param/dxl_model/ffw_sg2_steer_1.model +++ b/param/dxl_model/ffw_sg2_steer_1.model @@ -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 diff --git a/param/dxl_model/ffw_sg2_steer_2.model b/param/dxl_model/ffw_sg2_steer_2.model index f4de8e9..a1656da 100644 --- a/param/dxl_model/ffw_sg2_steer_2.model +++ b/param/dxl_model/ffw_sg2_steer_2.model @@ -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 diff --git a/param/dxl_model/ffw_sg2_steer_3.model b/param/dxl_model/ffw_sg2_steer_3.model index 5646da7..6873ea1 100644 --- a/param/dxl_model/ffw_sg2_steer_3.model +++ b/param/dxl_model/ffw_sg2_steer_3.model @@ -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 diff --git a/param/dxl_model/h42_20_s300_ra.model b/param/dxl_model/h42_20_s300_ra.model index 8dff998..fc09a0d 100644 --- a/param/dxl_model/h42_20_s300_ra.model +++ b/param/dxl_model/h42_20_s300_ra.model @@ -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 diff --git a/param/dxl_model/h54_100_s500_ra.model b/param/dxl_model/h54_100_s500_ra.model index d75df80..f7f4016 100644 --- a/param/dxl_model/h54_100_s500_ra.model +++ b/param/dxl_model/h54_100_s500_ra.model @@ -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 diff --git a/param/dxl_model/h54_200_s500_ra.model b/param/dxl_model/h54_200_s500_ra.model index d75df80..f7f4016 100644 --- a/param/dxl_model/h54_200_s500_ra.model +++ b/param/dxl_model/h54_200_s500_ra.model @@ -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 diff --git a/param/dxl_model/m42_10_s260_ra.model b/param/dxl_model/m42_10_s260_ra.model index 54a22a3..6c76c9a 100644 --- a/param/dxl_model/m42_10_s260_ra.model +++ b/param/dxl_model/m42_10_s260_ra.model @@ -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 diff --git a/param/dxl_model/m54_40_s250_ra.model b/param/dxl_model/m54_40_s250_ra.model index a076cb2..8db5473 100644 --- a/param/dxl_model/m54_40_s250_ra.model +++ b/param/dxl_model/m54_40_s250_ra.model @@ -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 diff --git a/param/dxl_model/m54_60_s250_ra.model b/param/dxl_model/m54_60_s250_ra.model index a076cb2..8db5473 100644 --- a/param/dxl_model/m54_60_s250_ra.model +++ b/param/dxl_model/m54_60_s250_ra.model @@ -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 diff --git a/param/dxl_model/mx_106.model b/param/dxl_model/mx_106.model index 6bdd26f..122eb65 100644 --- a/param/dxl_model/mx_106.model +++ b/param/dxl_model/mx_106.model @@ -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 diff --git a/param/dxl_model/mx_28.model b/param/dxl_model/mx_28.model index 05ec3f1..d8d8ca4 100644 --- a/param/dxl_model/mx_28.model +++ b/param/dxl_model/mx_28.model @@ -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 diff --git a/param/dxl_model/mx_64.model b/param/dxl_model/mx_64.model index 6bdd26f..122eb65 100644 --- a/param/dxl_model/mx_64.model +++ b/param/dxl_model/mx_64.model @@ -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 diff --git a/param/dxl_model/omy_hat.model b/param/dxl_model/omy_hat.model index 3d2113a..30aaa54 100644 --- a/param/dxl_model/omy_hat.model +++ b/param/dxl_model/omy_hat.model @@ -1,3 +1,7 @@ +[unit info] +Data Name value unit Sign Type +Present Input Voltage 0.1 V unsigned + [control table] Address Size Data Name 0 2 Model Number diff --git a/param/dxl_model/ph42_020_s300.model b/param/dxl_model/ph42_020_s300.model index d9dd952..9945d0e 100644 --- a/param/dxl_model/ph42_020_s300.model +++ b/param/dxl_model/ph42_020_s300.model @@ -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 diff --git a/param/dxl_model/ph54_100_s500.model b/param/dxl_model/ph54_100_s500.model index e99523f..0ac4491 100644 --- a/param/dxl_model/ph54_100_s500.model +++ b/param/dxl_model/ph54_100_s500.model @@ -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 diff --git a/param/dxl_model/ph54_200_s500.model b/param/dxl_model/ph54_200_s500.model index e99523f..0ac4491 100644 --- a/param/dxl_model/ph54_200_s500.model +++ b/param/dxl_model/ph54_200_s500.model @@ -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 diff --git a/param/dxl_model/pm42_010_s260.model b/param/dxl_model/pm42_010_s260.model index 1585fb4..7c91a61 100644 --- a/param/dxl_model/pm42_010_s260.model +++ b/param/dxl_model/pm42_010_s260.model @@ -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 diff --git a/param/dxl_model/pm54_040_s250.model b/param/dxl_model/pm54_040_s250.model index 3f03134..fe0228a 100644 --- a/param/dxl_model/pm54_040_s250.model +++ b/param/dxl_model/pm54_040_s250.model @@ -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 diff --git a/param/dxl_model/pm54_060_s250.model b/param/dxl_model/pm54_060_s250.model index 3f03134..fe0228a 100644 --- a/param/dxl_model/pm54_060_s250.model +++ b/param/dxl_model/pm54_060_s250.model @@ -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 diff --git a/param/dxl_model/rh_p12_rn.model b/param/dxl_model/rh_p12_rn.model index b081fab..c65812b 100644 --- a/param/dxl_model/rh_p12_rn.model +++ b/param/dxl_model/rh_p12_rn.model @@ -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 diff --git a/param/dxl_model/xc330_m181.model b/param/dxl_model/xc330_m181.model index 0a09350..d5e212a 100644 --- a/param/dxl_model/xc330_m181.model +++ b/param/dxl_model/xc330_m181.model @@ -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 diff --git a/param/dxl_model/xc330_m181_fw52.model b/param/dxl_model/xc330_m181_fw52.model index d8483c9..1cb5bd1 100644 --- a/param/dxl_model/xc330_m181_fw52.model +++ b/param/dxl_model/xc330_m181_fw52.model @@ -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 diff --git a/param/dxl_model/xc330_m288.model b/param/dxl_model/xc330_m288.model index 0a09350..d5e212a 100644 --- a/param/dxl_model/xc330_m288.model +++ b/param/dxl_model/xc330_m288.model @@ -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 diff --git a/param/dxl_model/xc330_m288_fw52.model b/param/dxl_model/xc330_m288_fw52.model index d8483c9..1cb5bd1 100644 --- a/param/dxl_model/xc330_m288_fw52.model +++ b/param/dxl_model/xc330_m288_fw52.model @@ -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 diff --git a/param/dxl_model/xc330_t181.model b/param/dxl_model/xc330_t181.model index 80ca68d..4292b6a 100644 --- a/param/dxl_model/xc330_t181.model +++ b/param/dxl_model/xc330_t181.model @@ -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 diff --git a/param/dxl_model/xc330_t181_fw52.model b/param/dxl_model/xc330_t181_fw52.model index 7d397de..b607acb 100644 --- a/param/dxl_model/xc330_t181_fw52.model +++ b/param/dxl_model/xc330_t181_fw52.model @@ -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 diff --git a/param/dxl_model/xc330_t288.model b/param/dxl_model/xc330_t288.model index a3ba279..5a60032 100644 --- a/param/dxl_model/xc330_t288.model +++ b/param/dxl_model/xc330_t288.model @@ -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 diff --git a/param/dxl_model/xc330_t288_fw52.model b/param/dxl_model/xc330_t288_fw52.model index f01d3fe..73cbfb5 100644 --- a/param/dxl_model/xc330_t288_fw52.model +++ b/param/dxl_model/xc330_t288_fw52.model @@ -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 diff --git a/param/dxl_model/xc430_w150.model b/param/dxl_model/xc430_w150.model index deb48f6..4144035 100644 --- a/param/dxl_model/xc430_w150.model +++ b/param/dxl_model/xc430_w150.model @@ -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 diff --git a/param/dxl_model/xc430_w240.model b/param/dxl_model/xc430_w240.model index deb48f6..4144035 100644 --- a/param/dxl_model/xc430_w240.model +++ b/param/dxl_model/xc430_w240.model @@ -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 diff --git a/param/dxl_model/xd430_t210.model b/param/dxl_model/xd430_t210.model index aa324bb..d2a2f76 100644 --- a/param/dxl_model/xd430_t210.model +++ b/param/dxl_model/xd430_t210.model @@ -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 diff --git a/param/dxl_model/xd430_t350.model b/param/dxl_model/xd430_t350.model index aa324bb..d2a2f76 100644 --- a/param/dxl_model/xd430_t350.model +++ b/param/dxl_model/xd430_t350.model @@ -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 diff --git a/param/dxl_model/xd540_t150.model b/param/dxl_model/xd540_t150.model index 033c4c8..1748bbb 100644 --- a/param/dxl_model/xd540_t150.model +++ b/param/dxl_model/xd540_t150.model @@ -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 diff --git a/param/dxl_model/xd540_t270.model b/param/dxl_model/xd540_t270.model index 033c4c8..1748bbb 100644 --- a/param/dxl_model/xd540_t270.model +++ b/param/dxl_model/xd540_t270.model @@ -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 diff --git a/param/dxl_model/xh430_v210.model b/param/dxl_model/xh430_v210.model index aa324bb..d2a2f76 100644 --- a/param/dxl_model/xh430_v210.model +++ b/param/dxl_model/xh430_v210.model @@ -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 diff --git a/param/dxl_model/xh430_v350.model b/param/dxl_model/xh430_v350.model index aa324bb..d2a2f76 100644 --- a/param/dxl_model/xh430_v350.model +++ b/param/dxl_model/xh430_v350.model @@ -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 diff --git a/param/dxl_model/xh430_w210.model b/param/dxl_model/xh430_w210.model index aa324bb..d2a2f76 100644 --- a/param/dxl_model/xh430_w210.model +++ b/param/dxl_model/xh430_w210.model @@ -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 diff --git a/param/dxl_model/xh430_w350.model b/param/dxl_model/xh430_w350.model index aa324bb..d2a2f76 100644 --- a/param/dxl_model/xh430_w350.model +++ b/param/dxl_model/xh430_w350.model @@ -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 diff --git a/param/dxl_model/xh540_v150.model b/param/dxl_model/xh540_v150.model index 033c4c8..1748bbb 100644 --- a/param/dxl_model/xh540_v150.model +++ b/param/dxl_model/xh540_v150.model @@ -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 diff --git a/param/dxl_model/xh540_v270.model b/param/dxl_model/xh540_v270.model index 033c4c8..1748bbb 100644 --- a/param/dxl_model/xh540_v270.model +++ b/param/dxl_model/xh540_v270.model @@ -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 diff --git a/param/dxl_model/xh540_w150.model b/param/dxl_model/xh540_w150.model index 3487436..c817a81 100644 --- a/param/dxl_model/xh540_w150.model +++ b/param/dxl_model/xh540_w150.model @@ -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 [control table] Address Size Data Name diff --git a/param/dxl_model/xh540_w270.model b/param/dxl_model/xh540_w270.model index 033c4c8..1748bbb 100644 --- a/param/dxl_model/xh540_w270.model +++ b/param/dxl_model/xh540_w270.model @@ -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 diff --git a/param/dxl_model/xl330_m077.model b/param/dxl_model/xl330_m077.model index 0a09350..d5e212a 100644 --- a/param/dxl_model/xl330_m077.model +++ b/param/dxl_model/xl330_m077.model @@ -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 diff --git a/param/dxl_model/xl330_m077_fw52.model b/param/dxl_model/xl330_m077_fw52.model index d8483c9..1cb5bd1 100644 --- a/param/dxl_model/xl330_m077_fw52.model +++ b/param/dxl_model/xl330_m077_fw52.model @@ -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 diff --git a/param/dxl_model/xl330_m288.model b/param/dxl_model/xl330_m288.model index 0a09350..d5e212a 100644 --- a/param/dxl_model/xl330_m288.model +++ b/param/dxl_model/xl330_m288.model @@ -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 diff --git a/param/dxl_model/xl330_m288_fw52.model b/param/dxl_model/xl330_m288_fw52.model index d8483c9..1cb5bd1 100644 --- a/param/dxl_model/xl330_m288_fw52.model +++ b/param/dxl_model/xl330_m288_fw52.model @@ -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 diff --git a/param/dxl_model/xl430_w250.model b/param/dxl_model/xl430_w250.model index deb48f6..4144035 100644 --- a/param/dxl_model/xl430_w250.model +++ b/param/dxl_model/xl430_w250.model @@ -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 diff --git a/param/dxl_model/xm430_w210.model b/param/dxl_model/xm430_w210.model index aa324bb..d2a2f76 100644 --- a/param/dxl_model/xm430_w210.model +++ b/param/dxl_model/xm430_w210.model @@ -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 diff --git a/param/dxl_model/xm430_w350.model b/param/dxl_model/xm430_w350.model index aa324bb..d2a2f76 100644 --- a/param/dxl_model/xm430_w350.model +++ b/param/dxl_model/xm430_w350.model @@ -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 diff --git a/param/dxl_model/xm540_w150.model b/param/dxl_model/xm540_w150.model index 033c4c8..1748bbb 100644 --- a/param/dxl_model/xm540_w150.model +++ b/param/dxl_model/xm540_w150.model @@ -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 diff --git a/param/dxl_model/xm540_w270.model b/param/dxl_model/xm540_w270.model index 033c4c8..1748bbb 100644 --- a/param/dxl_model/xm540_w270.model +++ b/param/dxl_model/xm540_w270.model @@ -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 diff --git a/param/dxl_model/xw430_t200.model b/param/dxl_model/xw430_t200.model index f9c0575..5a03da7 100644 --- a/param/dxl_model/xw430_t200.model +++ b/param/dxl_model/xw430_t200.model @@ -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 diff --git a/param/dxl_model/xw430_t333.model b/param/dxl_model/xw430_t333.model index f9c0575..5a03da7 100644 --- a/param/dxl_model/xw430_t333.model +++ b/param/dxl_model/xw430_t333.model @@ -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 diff --git a/param/dxl_model/xw540_h260.model b/param/dxl_model/xw540_h260.model index f9c0575..5a03da7 100644 --- a/param/dxl_model/xw540_h260.model +++ b/param/dxl_model/xw540_h260.model @@ -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 diff --git a/param/dxl_model/xw540_t140.model b/param/dxl_model/xw540_t140.model index f9c0575..5a03da7 100644 --- a/param/dxl_model/xw540_t140.model +++ b/param/dxl_model/xw540_t140.model @@ -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 diff --git a/param/dxl_model/xw540_t260.model b/param/dxl_model/xw540_t260.model index f9c0575..5a03da7 100644 --- a/param/dxl_model/xw540_t260.model +++ b/param/dxl_model/xw540_t260.model @@ -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 diff --git a/param/dxl_model/ym070_210_a051.model b/param/dxl_model/ym070_210_a051.model index 72a20d3..342fd9d 100644 --- a/param/dxl_model/ym070_210_a051.model +++ b/param/dxl_model/ym070_210_a051.model @@ -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 diff --git a/param/dxl_model/ym070_210_a099.model b/param/dxl_model/ym070_210_a099.model index e6371c4..71f5f57 100644 --- a/param/dxl_model/ym070_210_a099.model +++ b/param/dxl_model/ym070_210_a099.model @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed Goal Velocity 0.0010471976 rad/s signed Present Current 0.04 N/m signed Goal Current 0.04 N/m signed +Present Input Voltage 0.1 V unsigned [control table] Address Size Data Name diff --git a/param/dxl_model/ym070_210_b001.model b/param/dxl_model/ym070_210_b001.model index 72a20d3..342fd9d 100644 --- a/param/dxl_model/ym070_210_b001.model +++ b/param/dxl_model/ym070_210_b001.model @@ -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 diff --git a/param/dxl_model/ym070_210_m001.model b/param/dxl_model/ym070_210_m001.model index 72a20d3..342fd9d 100644 --- a/param/dxl_model/ym070_210_m001.model +++ b/param/dxl_model/ym070_210_m001.model @@ -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 diff --git a/param/dxl_model/ym070_210_r051.model b/param/dxl_model/ym070_210_r051.model index 72a20d3..342fd9d 100644 --- a/param/dxl_model/ym070_210_r051.model +++ b/param/dxl_model/ym070_210_r051.model @@ -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 diff --git a/param/dxl_model/ym070_210_r099.model b/param/dxl_model/ym070_210_r099.model index e6371c4..71f5f57 100644 --- a/param/dxl_model/ym070_210_r099.model +++ b/param/dxl_model/ym070_210_r099.model @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed Goal Velocity 0.0010471976 rad/s signed Present Current 0.04 N/m signed Goal Current 0.04 N/m signed +Present Input Voltage 0.1 V unsigned [control table] Address Size Data Name diff --git a/param/dxl_model/ym080_230_a051.model b/param/dxl_model/ym080_230_a051.model index 72a20d3..342fd9d 100644 --- a/param/dxl_model/ym080_230_a051.model +++ b/param/dxl_model/ym080_230_a051.model @@ -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 diff --git a/param/dxl_model/ym080_230_a099.model b/param/dxl_model/ym080_230_a099.model index 39d3269..ef5c469 100644 --- a/param/dxl_model/ym080_230_a099.model +++ b/param/dxl_model/ym080_230_a099.model @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed Goal Velocity 0.0010471976 rad/s signed Present Current 0.07692307692 N/m signed Goal Current 0.07692307692 N/m signed +Present Input Voltage 0.1 V unsigned [control table] Address Size Data Name diff --git a/param/dxl_model/ym080_230_b001.model b/param/dxl_model/ym080_230_b001.model index 72a20d3..342fd9d 100644 --- a/param/dxl_model/ym080_230_b001.model +++ b/param/dxl_model/ym080_230_b001.model @@ -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 diff --git a/param/dxl_model/ym080_230_m001.model b/param/dxl_model/ym080_230_m001.model index 72a20d3..342fd9d 100644 --- a/param/dxl_model/ym080_230_m001.model +++ b/param/dxl_model/ym080_230_m001.model @@ -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 diff --git a/param/dxl_model/ym080_230_r051.model b/param/dxl_model/ym080_230_r051.model index 72a20d3..342fd9d 100644 --- a/param/dxl_model/ym080_230_r051.model +++ b/param/dxl_model/ym080_230_r051.model @@ -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 diff --git a/param/dxl_model/ym080_230_r099.model b/param/dxl_model/ym080_230_r099.model index 39d3269..ef5c469 100644 --- a/param/dxl_model/ym080_230_r099.model +++ b/param/dxl_model/ym080_230_r099.model @@ -12,6 +12,7 @@ Present Velocity 0.0010471976 rad/s signed Goal Velocity 0.0010471976 rad/s signed Present Current 0.07692307692 N/m signed Goal Current 0.07692307692 N/m signed +Present Input Voltage 0.1 V unsigned [control table] Address Size Data Name From ab71fd534fdc4123993e458edf6657424d6d5589 Mon Sep 17 00:00:00 2001 From: Woojin Wie Date: Tue, 14 Oct 2025 20:19:53 +0900 Subject: [PATCH 2/2] fix: Correct Present Input Voltage value in omy_hat model file from 0.1V to 0.01V --- param/dxl_model/omy_hat.model | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/param/dxl_model/omy_hat.model b/param/dxl_model/omy_hat.model index 30aaa54..c985d12 100644 --- a/param/dxl_model/omy_hat.model +++ b/param/dxl_model/omy_hat.model @@ -1,6 +1,6 @@ [unit info] Data Name value unit Sign Type -Present Input Voltage 0.1 V unsigned +Present Input Voltage 0.01 V unsigned [control table] Address Size Data Name