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