8be13016bc
Upstream: https://github.com/pollen-robotics/bam Upstream-Commit: 57d13ead53206a6bf0db3d66f86506ae8c2ce01a Upstream-Branch: mjlab_frictionloss
91 lines
3.8 KiB
ReStructuredText
91 lines
3.8 KiB
ReStructuredText
Identified actuators
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====================
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Each motor below ships with pre-identified friction parameters. Click a motor
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to browse its JSON parameters, or use the **Use in MuJoCo** / **Use in mjlab**
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buttons to jump to the integration guide with the code examples pre-filled for
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that motor.
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.. list-table::
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:header-rows: 1
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:widths: 14 14 18 28 26
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:class: actuators-table
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* - Actuator
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- Image
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- Name
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- Description
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- Use in simulation
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* - **MX-64**
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- .. image:: ../_static/actuator_mx64.png
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:width: 120px
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- ``mx64``
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- ROBOTIS Dynamixel MX-64 servo-actuator
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(`Parameters <https://github.com/Rhoban/bam/tree/main/bam/params/mx64>`__,
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`model <https://github.com/Rhoban/bam/blob/main/bam/dynamixel/actuator.py>`__,
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`raw data <https://huggingface.co/buckets/Gregwar/bam_data/resolve/mx64_raw.tgz?download=true>`__)
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- .. raw:: html
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<a class="sd-btn sd-btn-outline-primary motor-btn" href="mujoco_cpu.html?motor=mx64">Use in MuJoCo</a>
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<a class="sd-btn sd-btn-outline-primary motor-btn" href="mjlab_gpu.html?motor=mx64">Use in mjlab</a>
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* - **MX-106**
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- .. image:: ../_static/actuator_mx106.png
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:width: 120px
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- ``mx106``
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- ROBOTIS Dynamixel MX-106 servo-actuator
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(`Parameters <https://github.com/Rhoban/bam/tree/main/bam/params/mx106>`__,
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`model <https://github.com/Rhoban/bam/blob/main/bam/dynamixel/actuator.py>`__,
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`raw data <https://huggingface.co/buckets/Gregwar/bam_data/resolve/mx106_raw.tgz?download=true>`__)
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- .. raw:: html
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<a class="sd-btn sd-btn-outline-primary motor-btn" href="mujoco_cpu.html?motor=mx106">Use in MuJoCo</a>
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<a class="sd-btn sd-btn-outline-primary motor-btn" href="mjlab_gpu.html?motor=mx106">Use in mjlab</a>
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* - **XL-320**
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- .. image:: ../_static/actuator_xl320.png
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:width: 120px
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- ``xl320``
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- ROBOTIS Dynamixel XL-320 servo-actuator
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(`Parameters <https://github.com/Rhoban/bam/tree/main/bam/params/xl320>`__,
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`model <https://github.com/Rhoban/bam/blob/main/bam/dynamixel/actuator.py>`__)
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- .. raw:: html
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<a class="sd-btn sd-btn-outline-primary motor-btn" href="mujoco_cpu.html?motor=xl320">Use in MuJoCo</a>
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<a class="sd-btn sd-btn-outline-primary motor-btn" href="mjlab_gpu.html?motor=xl320">Use in mjlab</a>
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* - **XL-330**
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- .. image:: ../_static/actuator_xl330.png
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:width: 120px
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- ``xl330``
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- ROBOTIS Dynamixel XL-330 servo-actuator
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(`Parameters <https://github.com/Rhoban/bam/tree/main/bam/params/xl330>`__,
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`model <https://github.com/Rhoban/bam/blob/main/bam/dynamixel/actuator.py>`__)
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- .. raw:: html
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<a class="sd-btn sd-btn-outline-primary motor-btn" href="mujoco_cpu.html?motor=xl330">Use in MuJoCo</a>
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<a class="sd-btn sd-btn-outline-primary motor-btn" href="mjlab_gpu.html?motor=xl330">Use in mjlab</a>
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* - **STS3215 (7.4V)**
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- .. image:: ../_static/actuator_feetech_sts3215_7_4V.png
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:width: 120px
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- ``feetech_sts3215_7_4V``
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- Feetech STS3215 servo-actuator (7.4V version)
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(`Parameters <https://github.com/Rhoban/bam/tree/main/bam/params/feetech_sts3215_7_4V>`__,
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`model <https://github.com/Rhoban/bam/blob/main/bam/feetech/actuator.py>`__,
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`raw data <https://huggingface.co/buckets/Gregwar/bam_data/resolve/feetech_sts3215_raw.zip?download=true>`__)
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.. raw:: html
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<p class="mini-warning">⚠ Only the <code>m1</code> model was identified for this actuator.</p>
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- .. raw:: html
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<a class="sd-btn sd-btn-outline-primary motor-btn" href="mujoco_cpu.html?motor=feetech_sts3215_7_4V">Use in MuJoCo</a>
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<a class="sd-btn sd-btn-outline-primary motor-btn" href="mjlab_gpu.html?motor=feetech_sts3215_7_4V">Use in mjlab</a>
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