| # Yet Another Manipulator (YAM) Description (MJCF) | |
| > [!IMPORTANT] | |
| > Requires MuJoCo 3.1.3 or later. | |
| ## Changelog | |
| See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes. | |
| ## Overview | |
| This package contains a simplified robot description (MJCF) of the [YAM robot](https://i2rt.com/products/yam-manipulator) developed by [I2 | |
| RT Robotics](https://i2rt.com/). It is derived from the [publicly available | |
| URDF | |
| description](https://github.com/i2rt-robotics/i2rt/blob/main/robot_models/yam/yam.urdf). | |
| <p float="left"> | |
| <img src="yam.png" width="400"> | |
| </p> | |
| ## MJCF derivation steps | |
| 1. Started from `yam.urdf` (commit SHA d4efb66d81bd8bde42909880b16591d4af82e8c0). | |
| 2. Added the following to the URDF `<robot>` tag `<mujoco><compiler balanceinertia="true" discardvisual="false" fusestatic="false" strippath="false"/></mujoco>`. | |
| 3. Loaded the URDF into MuJoCo and saved a corresponding MJCF. | |
| 4. Added home keyframe. | |
| 5. Added tracking light. | |
| 6. Add frictionloss (not identified). | |
| 7. Added armature based on reflected inertia values provided by the manufacturer. | |
| 8. Switched to implicitfast and used position actuators with kp/kv semantics. | |
| ## License | |
| This model is released under an [MIT License](LICENSE). | |