Import upstream snapshot 57d13ead53206a6bf0db3d66f86506ae8c2ce01a

Upstream: https://github.com/pollen-robotics/bam Upstream-Commit: 57d13ead53206a6bf0db3d66f86506ae8c2ce01a Upstream-Branch: mjlab_frictionloss
2026-08-28 15:42:08 +08:00
commit 8be13016bc
131 changed files with 12114 additions and 0 deletions
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+// Fill the {actuator} placeholder in the usage code examples with the motor
+// chosen via the ?motor=<name> query parameter (set by the buttons on the
+// "Identified actuators" page). When no motor is given, xl330 is used as the
+// default. Only whitelisted motor names are ever inserted.
+(function () {
+  "use strict";
+
+  // name -> human-readable label
+  var MOTORS = {
+    mx64: "MX-64",
+    mx106: "MX-106",
+    xl320: "XL-320",
+    xl330: "XL-330",
+    feetech_sts3215_7_4V: "STS3215 (7.4V)",
+  };
+  var DEFAULT_MOTOR = "xl330";
+  var PLACEHOLDER = "{actuator}";
+
+  function selectedMotor() {
+    var value = new URLSearchParams(window.location.search).get("motor");
+    if (value && Object.prototype.hasOwnProperty.call(MOTORS, value)) {
+      return value;
+    }
+    return DEFAULT_MOTOR;
+  }
+
+  function pageHasPlaceholder() {
+    var blocks = document.querySelectorAll("div.highlight pre");
+    for (var i = 0; i < blocks.length; i++) {
+      if (blocks[i].textContent.indexOf(PLACEHOLDER) !== -1) return true;
+    }
+    return false;
+  }
+
+  function updateCodeBlocks(motor) {
+    // The placeholder is a contiguous token inside a string literal, so a plain
+    // substring replace on innerHTML is enough (motor is whitelisted).
+    document.querySelectorAll("div.highlight pre").forEach(function (pre) {
+      if (pre.textContent.indexOf(PLACEHOLDER) === -1) return;
+      pre.innerHTML = pre.innerHTML.split(PLACEHOLDER).join(motor);
+    });
+  }
+
+  // Derive the "_static/" URL prefix from an existing asset link, so the motor
+  // image resolves correctly regardless of the current page's depth.
+  function staticBase() {
+    var link = document.querySelector('link[href*="_static/"]');
+    if (link) {
+      var href = link.getAttribute("href");
+      var idx = href.indexOf("_static/");
+      if (idx !== -1) return href.slice(0, idx + "_static/".length);
+    }
+    return "_static/";
+  }
+
+  function showBanner(motor) {
+    var article =
+      document.querySelector("article") ||
+      document.querySelector("main") ||
+      document.body;
+    var heading = article.querySelector("h1");
+    var img = staticBase() + "actuator_" + motor + ".png";
+
+    var banner = document.createElement("div");
+    banner.className = "admonition tip motor-banner";
+    banner.innerHTML =
+      '<img class="motor-banner-img" src="' +
+      img +
+      '" alt="' +
+      MOTORS[motor] +
+      '">' +
+      '<div class="motor-banner-text">' +
+      '<p class="admonition-title">Motor selected</p>' +
+      "<p>Examples on this page are shown for " +
+      '<code class="docutils literal notranslate"><span class="pre">' +
+      motor +
+      "</span></code> (" +
+      MOTORS[motor] +
+      "). " +
+      '<a href="actuators.html">Choose a different motor</a>.</p>' +
+      "</div>";
+
+    if (heading && heading.parentNode) {
+      heading.parentNode.insertBefore(banner, heading.nextSibling);
+    } else {
+      article.insertBefore(banner, article.firstChild);
+    }
+  }
+
+  function apply() {
+    // Only act on pages that actually carry the {actuator} placeholder.
+    if (!pageHasPlaceholder()) return;
+    var motor = selectedMotor();
+    updateCodeBlocks(motor);
+    showBanner(motor);
+  }
+
+  if (document.readyState === "loading") {
+    document.addEventListener("DOMContentLoaded", apply);
+  } else {
+    apply();
+  }
+})();