Support for All Dynamixel X-Series Actuators Including XC330 Series

[Woojin-Crive]

Overview

This pull request adds support for all Dynamixel X-Series actuators by including their respective .model files. Specifically, it addresses the need for the XC330 series, as raised in #2

Key Changes

1. Added .model files for:
   • XC330 series actuators
   • Other X-Series actuators for broader compatibility
2. Modified Indirect Address Write and Indirect Data Write for the entire X-Series .model files:
   • Adjusted the range of indirect read/write to account for actuators with limited indirect range.

Notes

• Additional feedback or testing requests are welcome.

[Woojin-Crive]

The dynamixel.model file should also be updated to reflect the changes. It will be updated soon.

[HPaper]

@Woojin-Crive Is a 26-byte length for the read data sufficient? Was there a specific reason for changing it?

[Woojin-Crive]

@HPaper dynamixel_hardware_interface(open manipulator parameters) is now reading the following data: Present Position, Present Velocity, Present Current, Torque Enable, and Present Input Voltage, totaling 13 bytes. Consequently, I've allocated a 13-byte read data space. For writing, the package handles Goal Position and Goal Current(option), requiring up to 6 bytes. Given that the X*-330 series Dynamixels have an indirect address space of 20 bytes, I've configured the read data space without any margin to accommodate these requirements.

[HPaper]

@Woojin-Crive
While it's true that the Open Manipulator requires 13 bytes of read data and has been configured accordingly, the dynamixel_hardware_interface is not designed solely for that package. Therefore, limiting the read space to 13 bytes is not ideal.

For the X*-330 series, where only 20 bytes of indirect address space are available, such a configuration might be necessary. However, for other Dynamixels, reducing the read space unnecessarily does not seem appropriate.

Additionally, since the write area generally requires less space compared to the read area, it would be better to position the write indirect area at the beginning of the address space.

Lastly, it might be necessary to add code that generates an error when adding read data to the indirect address exceeds the provided space.

[HPaper]

@Woojin-Crive @sunghowoo
Therefore, I will make the necessary corrections and submit an updated commit for this PR. Please review it once it's updated.

[HPaper]

Is a 26-byte length for the read data sufficient? Was there a specific reason for changing it?

[sunghowoo]

I have verified that the open manipulator's X and Y are working properly.