Bump 1.4.12 #73
Bump 1.4.12 #73
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…ll Dynamixel models using protocol 2.0
Add new Dynamixel model files
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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 updates the dynamixel_hardware_interface package to version 1.4.12. The primary goal of this update is to expand support for a wider range of Dynamixel models that utilize Protocol 2.0, ensuring broader compatibility for robotic systems.
Highlights
- Version Update: The package version has been incremented from 1.4.11 to 1.4.12.
- Expanded Dynamixel Protocol 2.0 Support: Numerous new .model files have been added to include support for a comprehensive set of Dynamixel motors operating under Protocol 2.0, such as MX, H, M, PH, PM, and YM series.
- Model Definition Refinements: Existing model definitions have been updated for accuracy, including adjustments to unit information and control table entries (e.g., clarifying 'Secondary ID' and adding external port modes).
- Model File Management Tool: A new Python script (cluster_model_files.py) has been introduced to help identify and group Dynamixel model files that share identical control table configurations, aiding in future maintenance and organization.
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Code Review
This pull request bumps the package version to 1.4.12 and adds support for a large number of new Dynamixel models that use protocol 2.0. This includes adding many new model definition files and a Python script to help manage them by identifying models with identical control tables. The changes are extensive and seem to align with the goal of expanding device support. My review focuses on the correctness and maintainability of the newly added model files and the utility script. I've identified some redundant entries in the model files that could be cleaned up for better clarity, a small improvement for the new Python script to make it more robust, and a suggestion to make the changelog entry more accurate.
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| 1.4.12 (2025-08-11) | ||
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| * Added support for all dynamixel models that supports dynamixel protocol 2.0 |
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The claim "all dynamixel models that supports dynamixel protocol 2.0" seems to be an overstatement. This pull request adds support for a specific set of new models, but not all of them. To avoid confusion, it would be more accurate to list the newly supported model series or state that support has been expanded for additional protocol 2.0 devices.
| 168 2 Indirect Address 1 | ||
| 634 1 Indirect Data 1 |
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These control table entries for Indirect Address 1 and Indirect Data 1 appear to be redundant. The addresses 168 and 634 are already used by Indirect Address Write and Indirect Data Write on lines 79-80. The application code uses the ...Write and ...Read named entries, making these ...1 entries unused and potentially confusing. Removing them would improve clarity and maintainability.
| 168 2 Indirect Address 1 | ||
| 634 1 Indirect Data 1 |
There was a problem hiding this comment.
These control table entries for Indirect Address 1 and Indirect Data 1 appear to be redundant. The addresses 168 and 634 are already used by Indirect Address Write and Indirect Data Write on lines 79-80. The application code uses the ...Write and ...Read named entries, making these ...1 entries unused and potentially confusing. Removing them would improve clarity and maintainability.
| 168 2 Indirect Address 1 | ||
| 634 1 Indirect Data 1 |
There was a problem hiding this comment.
These control table entries for Indirect Address 1 and Indirect Data 1 appear to be redundant. The addresses 168 and 634 are already used by Indirect Address Write and Indirect Data Write on lines 79-80. The application code uses the ...Write and ...Read named entries, making these ...1 entries unused and potentially confusing. Removing them would improve clarity and maintainability.
| 168 2 Indirect Address 1 | ||
| 634 1 Indirect Data 1 |
There was a problem hiding this comment.
These control table entries for Indirect Address 1 and Indirect Data 1 appear to be redundant. The addresses 168 and 634 are already used by Indirect Address Write and Indirect Data Write on lines 79-80. The application code uses the ...Write and ...Read named entries, making these ...1 entries unused and potentially confusing. Removing them would improve clarity and maintainability.
| 244 4 Profile Velocity | ||
| 248 4 Profile Acceleration Time | ||
| 252 4 Profile Time | ||
| 256 2 Indirect Address 1 |
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The control table entry Indirect Address 1 at address 256 seems redundant, as this address is also used by Indirect Address Write (line 110). The application code uses the ...Write and ...Read variants, making this entry unused and potentially confusing. For clarity and maintainability, it's recommended to remove this line.
| 568 2 Present Input Voltage | ||
| 570 1 Present Inverter Temperature | ||
| 571 1 Present Motor Temperature | ||
| 634 1 Indirect Data 1 |
There was a problem hiding this comment.
The control table entry Indirect Data 1 at address 634 seems redundant, as this address is also used by Indirect Data Write (line 111). The application code uses the ...Write and ...Read variants, making this entry unused and potentially confusing. For clarity and maintainability, it's recommended to remove this line.
| 244 4 Profile Velocity | ||
| 248 4 Profile Acceleration Time | ||
| 252 4 Profile Time | ||
| 256 2 Indirect Address 1 |
There was a problem hiding this comment.
The control table entry Indirect Address 1 at address 256 seems redundant, as this address is also used by Indirect Address Write (line 110). The application code uses the ...Write and ...Read variants, making this entry unused and potentially confusing. For clarity and maintainability, it's recommended to remove this line.
| 568 2 Present Input Voltage | ||
| 570 1 Present Inverter Temperature | ||
| 571 1 Present Motor Temperature | ||
| 634 1 Indirect Data 1 |
There was a problem hiding this comment.
The control table entry Indirect Data 1 at address 634 seems redundant, as this address is also used by Indirect Data Write (line 111). The application code uses the ...Write and ...Read variants, making this entry unused and potentially confusing. For clarity and maintainability, it's recommended to remove this line.
| MODEL_DIR = os.path.join(os.path.dirname(__file__), '..', 'param', 'dxl_model') | ||
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| # Get all files in the model directory | ||
| files = [f for f in os.listdir(MODEL_DIR) if os.path.isfile(os.path.join(MODEL_DIR, f))] |
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The current file discovery logic includes dynamixel.model, which is an index file, not a device model file, and thus lacks a [control table]. This could lead to it being incorrectly clustered. To make the script more robust and specific, it's better to exclude this file from processing.
| files = [f for f in os.listdir(MODEL_DIR) if os.path.isfile(os.path.join(MODEL_DIR, f))] | |
| files = [f for f in os.listdir(MODEL_DIR) if f != 'dynamixel.model' and os.path.isfile(os.path.join(MODEL_DIR, f))] |
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