Unfortunately that's not so helpful since I presume your motor will actually be under load. Furthermore, it gives the no-load current without specifying the voltage. Is that 17 mA at 1 V or 17 mA at 6 V? 17 mA seems pretty low, so I'd guess the stall current is under an amp at 6 V (maybe even at 12 V), but without knowing for sure it's hard to confidently suggest a motor driver. Is your L293 driver leading to unacceptable behavior or can you work around the lower torque? It seems like you should be able to get sufficient performance out of it even with the voltage drop if you are using 12 V (assuming it isn't trying to draw more current than the L293 can deliver).
If you have a digital multimeter you should be able to measure the stall current. What is your power supply, by the way?
- Ben