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