# Model M ## ```{note} The most accurate information regarding the model can be found in the URDF files under the models directory of the Rainbow Robotics SDK repository. It is highly recommended to refer to this source for the latest updates and details. ```
```{image} /_static/images/model/model_m/model_m.png :alt: Model M :align: center :width: 400px :class: white_bg ``` - Mecanum Wheel
```{image} /_static/images/model/model_m/mecanum_wheel.png :alt: Mecanum Wheel :align: center :width: 400px :class: white_bg ``` --- ### Degrees of Freedom (DOF)
- Total DOF: 26 --- ### Joint Names
The joint names of the M model are as follows: - **Wheels**: `wheel_fr`, `wheel_fl`, `wheel_rr`, `wheel_rl` - **Torso**: `torso_0`, `torso_1`, `torso_2`, `torso_3`, `torso_4`, `torso_5` - **Right Arm**: `right_arm_0`, `right_arm_1`, `right_arm_2`, `right_arm_3`, `right_arm_4`, `right_arm_5`, `right_arm_6` - **Left Arm**: `left_arm_0`, `left_arm_1`, `left_arm_2`, `left_arm_3`, `left_arm_4`, `left_arm_5`, `left_arm_6` - **Head**: `head_0`, `head_1` --- ### Mobility Indexes
The indexes related to mobility are as follows: - **Wheel FR(Front-Right) Index**: 0 - **Wheel FL(Front-Left) Index**: 1 - **Wheel RR(Rear-Right) Index**: 2 - **Wheel RL(Rear-Left) Index**: 3 --- ### Body Indexes
The indexes related to the body parts are as follows: - **Torso Indexes**: 4, 5, 6, 7, 8, 9 - **Right Arm Indexes**: 10, 11, 12, 13, 14, 15, 16 - **Left Arm Indexes**: 17, 18, 19, 20, 21, 22, 23 --- ### Head Indexes
The indexes related to the head parts are as follows: - **Head Indexes**: 24, 25 --- ### Brake and Motor Information
#### Components Without Brakes The following components do not have brakes: - **Wheels**: `wheel_fr`, `wheel_fl`, `wheel_rr`, `wheel_rl` - **Right Arm**: `right_arm_6` - **Left Arm**: `left_arm_6`
#### Components Without Physical Brake Buttons The following components have brakes but do not have physical buttons for releasing them (can only be released electronically): - **Torso**: `torso_3`, `torso_4`, `torso_5` - **Right Arm**: `right_arm_4`, `right_arm_5` - **Left Arm**: `left_arm_4`, `left_arm_5`
#### Components With Physical Brake Buttons The following components have brakes and include physical buttons for releasing them: - Torso: `torso_0`, `torso_1`, `torso_2` - Right Arm: `right_arm_0`, `right_arm_1`, `right_arm_2`, `right_arm_3` - Left Arm: `left_arm_0`, `left_arm_1`, `left_arm_2`, `left_arm_3` --- #### Parameter Lists
| Parameter Name | Default Value | Min Value | Max Value | Unit | | -------------- | ------------- | ---------- | --------- | ---- | |`robot_model_name` | "rby1m" | - | - | | |`model_name` | "" | | - | - | |`battery_config` (type, cutoff_voltage, fully_charged_voltage, ...)| [0, 44.7, 58.6, 1123.0, -61.587, 1.0168, -0.0045] | - | - | | |`soft_stop_enabled` | 0 | 0 | 1 | | |`power_command.timeout` | 1.0 | 0.0 | 10.0 | sec | |`servo_on_command.timeout` | 15.0 | 0.0 | 30.0 | sec | |`servo_on_command.new_data_timeout` | 3.0 | 0.0 | 10.0 | sec | |`gravity` | [0, 0, -9.8] | - | - | m/s²| |`default.velocity_limit_scaling` | 1.0 | 0.01| 1.5 | | |`default.acceleration_limit_scaling` | 1.0 | 0.01| 1.5 | | |`default.linear_acceleration_limit` | 5.0 | 0.01| 10.0 | | |`default.angular_acceleration_limit` | 1.0 | 0.01| 5.0 | | |`default.optimal_control_command.velocity_tracking_gain` | 0.1 | 1e-5| 1.0 | | |`default.optimal_control_command.stop_cost` | 1e-3 | 1e-6| 1e9 | | |`default.se2_velocity_command.acceleration_limit` | [1.0, 5.0, 99.0] | - | - | | |`jog_command.one_step_size` | 0.087266463 (5°) | 0.017453293 (1°) | 0.17453293 (10°) | rad | |`jog_command.canceling_time` | 0.1 | 1e-3 | 10.0 | sec | |`joint_position_command.cutoff_frequency` | 15.0 | 1e-3 | 100.0| Hz | |`joint_position_command.canceling_time` | 0.1 | 1e-3 | 1.0 | sec | |`joint_position_command.torque_saturation_time` | 0.1 | 1e-3 | 1.0 | sec | |`cartesian_command.cutoff_frequency` | 15.0 | 1e-3 | 100.0| Hz | |`cartesian_command.canceling_time` | 0.1 | 1e-3 | 1.0 | sec | |`cartesian_command.torque_saturation_time` | 0.1 | 1e-3 | 1.0 | sec | |`impedance_control_command.torque_saturation_time` | 0.1 | 1e-3 | 1.0 | sec | |`optimal_control_command.torque_saturation_time` | 0.1 | 1e-3 | 1.0 | sec | |`stop_command.canceling_time` | 0.1 | 1e-3 | 1.0 | sec | |`stop_command.torque_saturation_time` | 0.1 | 1e-3 | 1.0 | sec | |`joint_velocity_command.canceling_time` | 0.1 | 1e-3 | 1.0 | sec | |`joint_velocity_command.torque_saturation_time` | 0.1 | 1e-3 | 1.0 | sec | |`se2_velocity_command.canceling_time` | 0.1 | 1e-3 | 1.0 | sec | --- #### Example Usage in Python
```python # Set parameters using the dot notation, following the provided examples robot.set_parameter("default.acceleration_limit_scaling", "0.8") robot.set_parameter("joint_position_command.cutoff_frequency", "5") robot.set_parameter("cartesian_command.cutoff_frequency", "5") robot.set_parameter("default.linear_acceleration_limit", "5") ```