Dynamixel 2R arm testbench #152
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This model is a Dynamixel 2R arm (MX106 / MX64), used as a testbench to validate friction models in bam
Values used in the model are the best-fit using coulomb-viscous model (m1 in the paper). However, important load-dependent frictions are present, and can't be directly modeled in MuJoCo currently.
See the resulting description on my repo: https://github.com/Gregwar/mujoco_menagerie/tree/dynamixel_2r/dynamixel_2r
dynamixel_2r.mp4