8be13016bc
Upstream: https://github.com/pollen-robotics/bam Upstream-Commit: 57d13ead53206a6bf0db3d66f86506ae8c2ce01a Upstream-Branch: mjlab_frictionloss
130 lines
4.0 KiB
ReStructuredText
130 lines
4.0 KiB
ReStructuredText
Better Actuator Models (BAM)
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============================
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.. grid:: 1 2 2 2
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:gutter: 2
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.. grid-item::
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.. video:: https://github.com/Rhoban/bam_media/raw/refs/heads/main/videos/m1_vs_m6.mp4
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:autoplay:
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:muted:
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:loop:
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.. grid-item::
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.. video:: https://github.com/Rhoban/bam_media/raw/refs/heads/main/videos/sin_sin.mp4
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:autoplay:
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:muted:
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:loop:
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.. admonition:: What is it?
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BAM (for Better Actuator Models) is a library to **identify** and **use** servo-actuator models in simulation
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engines. In particular, it provides **extended friction models**, which are more accurate than the default friction
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models used in most simulators (e.g., MuJoCo).
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The animation above is a face-to-face comparison of the :doc:`default MuJoCo friction model (M1) <theory/models>` and an :doc:`extended friction model (M6) <theory/models>` identified for Dynamixel MX-64 and MX-106 servo-actuators lifting a load.
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Features
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--------
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- :doc:`Pre-identified friction models <usage/actuators>` for common servo-actuators (e.g., XL320, XL330, MX64, MX106...)
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- **API for direct integration of friction models** into :doc:`MuJoCo CPU <usage/mujoco_cpu>` and :doc:`mjlab (MuJoCo Warp) <usage/mjlab_gpu>`
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- :doc:`Extended friction models <theory/index>`, including Stribeck effect, load-dependance
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- :doc:`Identification process <identification/index>` for servo-actuator with friction models
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Getting started
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---------------
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Pick the path that matches where you are:
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.. grid:: 1 1 3 3
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:gutter: 3
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:class-container: bam-getting-started
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.. grid-item-card:: 🔌 Use a bundled model
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:link: usage/index
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:link-type: doc
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:class-card: bam-card
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Your motor is already in the :doc:`library <usage/actuators>`
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(``xl320``, ``xl330``, ``mx64``, ``mx106``, ...).
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Load its parameters and plug them into your MuJoCo or mjlab simulation
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right away.
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+++
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:doc:`Usage guide → <usage/index>`
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.. grid-item-card:: 🔧 Identify a new motor
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:link: identification/index
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:link-type: doc
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:class-card: bam-card
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Your motor is not in the library yet.
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Build a simple pendulum test bench, record trajectories under varying
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load, and run the identification pipeline to fit a friction model.
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+++
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:doc:`Identification process → <identification/index>`
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.. grid-item-card:: 📐 Understand the theory
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:link: theory/index
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:link-type: doc
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:class-card: bam-card
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You want to understand the modeling approach.
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Dive into the pendulum dynamics, the friction-budget formulation, and
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the six model variants M1–M6.
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+++
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:doc:`Theory → <theory/index>`
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Reference paper
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---------------
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This library implements the modeling and identification approach introduced
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in the paper `"Extended Friction Models for the Physics Simulation of Servo
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Actuators" <https://arxiv.org/pdf/2410.08650>`_ by Marc Duclusaud, Gregoire Passault, Vincent Padois, and Olivier
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Ly .
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If you use BAM or the friction models provided in this library for your
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scientific work, please cite the publication:
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.. code-block:: bibtex
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@inproceedings{duclusaud2025extended,
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title={Extended Friction Models for the Physics Simulation of Servo Actuators},
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author={Duclusaud, Marc and Passault, Gr{\'e}goire and Padois, Vincent and Ly, Olivier},
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booktitle={2025 IEEE International Conference on Robotics and Automation (ICRA)},
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pages={12091--12097},
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year={2025},
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organization={IEEE}
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}
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If you also wish to cite the software directly, you may use:
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.. code-block:: bibtex
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@software{BAM,
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title = {{BAM: Better Actuator Models}},
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author = {Duclusaud, Marc and Passault, Grégoire},
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license = {Apache-2.0},
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url = {https://github.com/Rhoban/bam},
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version = {0.0.1},
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year = {2024}
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}
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.. toctree::
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:maxdepth: 2
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:caption: Contents
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usage/index
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identification/index
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theory/index
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api/index
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