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.

Actuator

Image

Name

Description

Use in simulation

MX-64

 ../_images/actuator_mx64.png

mx64

ROBOTIS Dynamixel MX-64 servo-actuator (Parameters, model, raw data)

 Use in MuJoCo Use in mjlab

MX-106

 ../_images/actuator_mx106.png

mx106

ROBOTIS Dynamixel MX-106 servo-actuator (Parameters, model, raw data)

 Use in MuJoCo Use in mjlab

XL-320

 ../_images/actuator_xl320.png

xl320

ROBOTIS Dynamixel XL-320 servo-actuator (Parameters, model)

 Use in MuJoCo Use in mjlab

XL-330

 ../_images/actuator_xl330.png

xl330

ROBOTIS Dynamixel XL-330 servo-actuator (Parameters, model, raw data)

 Use in MuJoCo Use in mjlab

STS3215 (7.4V)

 ../_images/actuator_feetech_sts3215_7_4V.png

feetech_sts3215_7_4V

Feetech STS3215 servo-actuator (7.4V version) (Parameters, model, raw data)

⚠ Only the m1 model was identified for this actuator.

 Use in MuJoCo Use in mjlab