Identified actuators
====================

Each motor below ships with pre-identified friction parameters. Click a motor
to browse its JSON parameters, or use the **Use in MuJoCo** / **Use in mjlab**
buttons to jump to the integration guide with the code examples pre-filled for
that motor.

.. list-table::
    :header-rows: 1
    :widths: 14 14 18 28 26
    :class: actuators-table

    * - Actuator
      - Image
      - Name
      - Description
      - Use in simulation

    * - **MX-64**
      - .. image:: ../_static/actuator_mx64.png
            :width: 120px

      - ``mx64``
      - ROBOTIS Dynamixel MX-64 servo-actuator
        (`Parameters <https://github.com/Rhoban/bam/tree/main/bam/params/mx64>`__,
        `model <https://github.com/Rhoban/bam/blob/main/bam/dynamixel/actuator.py>`__,
        `raw data <https://huggingface.co/buckets/Gregwar/bam_data/resolve/mx64_raw.tgz?download=true>`__)
      - .. raw:: html

           <a class="sd-btn sd-btn-outline-primary motor-btn" href="mujoco_cpu.html?motor=mx64">Use in MuJoCo</a>
           <a class="sd-btn sd-btn-outline-primary motor-btn" href="mjlab_gpu.html?motor=mx64">Use in mjlab</a>

    * - **MX-106**
      - .. image:: ../_static/actuator_mx106.png
            :width: 120px

      - ``mx106``
      - ROBOTIS Dynamixel MX-106 servo-actuator
        (`Parameters <https://github.com/Rhoban/bam/tree/main/bam/params/mx106>`__,
        `model <https://github.com/Rhoban/bam/blob/main/bam/dynamixel/actuator.py>`__,
        `raw data <https://huggingface.co/buckets/Gregwar/bam_data/resolve/mx106_raw.tgz?download=true>`__)
      - .. raw:: html

           <a class="sd-btn sd-btn-outline-primary motor-btn" href="mujoco_cpu.html?motor=mx106">Use in MuJoCo</a>
           <a class="sd-btn sd-btn-outline-primary motor-btn" href="mjlab_gpu.html?motor=mx106">Use in mjlab</a>

    * - **XL-320**
      - .. image:: ../_static/actuator_xl320.png
            :width: 120px

      - ``xl320``
      - ROBOTIS Dynamixel XL-320 servo-actuator
        (`Parameters <https://github.com/Rhoban/bam/tree/main/bam/params/xl320>`__,
        `model <https://github.com/Rhoban/bam/blob/main/bam/dynamixel/actuator.py>`__)
      - .. raw:: html

           <a class="sd-btn sd-btn-outline-primary motor-btn" href="mujoco_cpu.html?motor=xl320">Use in MuJoCo</a>
           <a class="sd-btn sd-btn-outline-primary motor-btn" href="mjlab_gpu.html?motor=xl320">Use in mjlab</a>

    * - **XL-330**
      - .. image:: ../_static/actuator_xl330.png
            :width: 120px

      - ``xl330``
      - ROBOTIS Dynamixel XL-330 servo-actuator
        (`Parameters <https://github.com/Rhoban/bam/tree/main/bam/params/xl330>`__,
        `model <https://github.com/Rhoban/bam/blob/main/bam/dynamixel/actuator.py>`__)
      - .. raw:: html

           <a class="sd-btn sd-btn-outline-primary motor-btn" href="mujoco_cpu.html?motor=xl330">Use in MuJoCo</a>
           <a class="sd-btn sd-btn-outline-primary motor-btn" href="mjlab_gpu.html?motor=xl330">Use in mjlab</a>

    * - **STS3215 (7.4V)**
      - .. image:: ../_static/actuator_feetech_sts3215_7_4V.png
            :width: 120px

      - ``feetech_sts3215_7_4V``
      - Feetech STS3215 servo-actuator (7.4V version)
        (`Parameters <https://github.com/Rhoban/bam/tree/main/bam/params/feetech_sts3215_7_4V>`__,
        `model <https://github.com/Rhoban/bam/blob/main/bam/feetech/actuator.py>`__,
        `raw data <https://huggingface.co/buckets/Gregwar/bam_data/resolve/feetech_sts3215_raw.zip?download=true>`__)

        .. raw:: html

           <p class="mini-warning">⚠ Only the <code>m1</code> model was identified for this actuator.</p>
      - .. raw:: html

           <a class="sd-btn sd-btn-outline-primary motor-btn" href="mujoco_cpu.html?motor=feetech_sts3215_7_4V">Use in MuJoCo</a>
           <a class="sd-btn sd-btn-outline-primary motor-btn" href="mjlab_gpu.html?motor=feetech_sts3215_7_4V">Use in mjlab</a>
