Merge pull request #152 from Gregwar/dynamixel_2r

Dynamixel 2R arm testbench

Author: kevinzakka

dynamixel_2r/LICENSE

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+Copyright (c) <2024-2099> Marc Duclusaud and Grégoire Passault
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is furnished
+to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

dynamixel_2r/README.md

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+# Dynamixel 2R
+
+## Overview
+
+This package contains a 2R testbench arm featuring MX-106 and MX-64 Dynamixel actuators.
+
+The motor parameters are the best fit using system identification, for *kp=32* and *vin=15V*.
+However, as described in the [related paper](https://arxiv.org/pdf/2410.08650v1), enhanced friction
+modeling can be used to greatly improve the fidelity of the simulation of such system.
+
+<p float="left">
+  <img src="dynamixel_2r.png" width="400">
+</p>
+
+## CAD → MJCF conversion
+
+The model was converted using [onshape-to-robot](https://onshape-to-robot.readthedocs.io/) from the [Onshape CAD assembly](https://cad.onshape.com/documents/c261e707fbd05d9a111bbdd3/w/2b2b7908e9fc282f8fc113ce/e/67a067163b98ae778d880134).
+
+The [config.json](config.json) with export configuration file is also present in this package.
+
+## See also
+
+* [BAM repository](https://github.com/rhoban/bam): exploring extended modeling of the friction
+
+## License
+
+This model is released under a [MIT License](LICENSE)