8be13016bc
Upstream: https://github.com/pollen-robotics/bam Upstream-Commit: 57d13ead53206a6bf0db3d66f86506ae8c2ce01a Upstream-Branch: mjlab_frictionloss
74 lines
1.8 KiB
ReStructuredText
74 lines
1.8 KiB
ReStructuredText
Identification
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==============
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This section walks through the end-to-end identification pipeline: building
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the test bench, recording trajectories, and fitting a friction model.
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.. grid:: 1 2 2 2
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:gutter: 3
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:class-container: bam-getting-started
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.. grid-item-card:: 🔩 Hardware setup
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:link: setup
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:link-type: doc
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:class-card: bam-card
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Build the pendulum test bench with variable loads and lengths to collect
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a rich set of trajectories.
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:doc:`Hardware setup → <setup>`
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.. grid-item-card:: 🧩 Modeling the actuator
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:link: actuator_modeling
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:link-type: doc
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:class-card: bam-card
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Subclass BAM's :class:`~bam.actuator.Actuator` and implement the methods
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that describe your motor.
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:doc:`Actuator modeling → <actuator_modeling>`
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.. grid-item-card:: 🎬 Data acquisition
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:link: acquisition
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:link-type: doc
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:class-card: bam-card
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Run the actuator through predefined trajectories while logging position,
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velocity, and control signals.
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:doc:`Data acquisition → <acquisition>`
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.. grid-item-card:: 📉 Fitting
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:link: fitting
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:link-type: doc
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:class-card: bam-card
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Optimize the friction model parameters so the simulator reproduces the
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recorded trajectories.
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:doc:`Fitting → <fitting>`
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.. grid-item-card:: 🤝 Contributing a model
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:link: contributing
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:link-type: doc
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:class-card: bam-card
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Identified a new motor? Share your parameters with the community and add
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them to the BAM library.
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:doc:`Contributing → <contributing>`
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.. toctree::
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:hidden:
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setup
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actuator_modeling
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acquisition
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fitting
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contributing
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