Reference: Vendor Capability Matrix

Vendor Overview

Vendor	Add Method	Typical Transport	Protocol Family
Damiao	`add_damiao_motor()`	SocketCAN, DM Serial, DM-Device	DM-J4310/4340
RobStride	`add_robstride_motor()`	SocketCAN	RobStride Extended CAN
RobStride (CiA402, exp.)	`add_robstride_motor(..., vendor="robstride_cia402")`	SocketCAN	CANopen/CiA402 (`F_CMD=1`)
RobStride (MIT, exp.)	`add_robstride_motor(..., vendor="robstride_mit")`	SocketCAN	RobStride MIT (`F_CMD=2`)
MyActuator	`add_myactuator_motor()`	SocketCAN	MyActuator RMD
HighTorque	`add_hightorque_motor()`	SocketCAN	HighTorque native
Hexfellow	`add_hexfellow_motor()`	CAN-FD	Hexfellow MIT

Unified Mode Support

Vendor	Typical Models	MIT	POS_VEL	VEL	FORCE_POS
Damiao	4310, 4340P, 6006	✅	✅	✅	✅
RobStride	rs-00 through rs-06	✅	✅ (= PP; CSP variant)	✅	❌
MyActuator	X8	❌	✅	✅	❌
HighTorque	hightorque	✅	✅	✅	✅
Hexfellow	hexfellow	✅	✅	❌	❌

RobStride Mapping Notes

MIT maps to native impedance packet (pos/vel/kp/kd/tau all effective).
POS_VEL maps to native position flow, i.e. PP (run_mode=1, loc_ref, limit_spd, optional loc_kp). Unified pos-vel takes this PP path (via limit_spd).
Always pass the physical RobStride model (rs-00 … rs-06) for limits and logs. High-level control and runtime parameter read/write share the protocol section 4 table (0x7005..0x702E).
Full runtime parameter tables are available in RobStride Parameter Tables.
In unified pos-vel, CLI args --vel/--kd/--tau are ignored by design and shown as warnings.
Torque/current is currently parameter-level only (write-param), not a separate unified mode (FORCE_POS remains ❌).
PP / CSP: Unified pos-vel is already PP (via limit_spd). For full PP parameters (vel_max + acc_set) or CSP (run_mode=5), use robstride_send_pos_vel_pp / robstride_send_pos_vel_csp. See RobStride Parameter Tables.
Firmware version: RobStride firmware version request and reply decoding is available (--mode firmware-version).
Mode-aware controlled stop: handle_stop is hardened and performs a mode-aware controlled stop.
Experimental vendor paths: robstride_cia402 (CANopen/CiA402, F_CMD=1) and robstride_mit (MIT, F_CMD=2) expose core CLI entry points and docs but are not production-ready — real-device validation matrices, high-rate/control ergonomics, EDS/PDO/SYNC coverage, and dm-device transport wiring are still pending.

Unified Mode -> Native Vendor Mapping

Unified Mode	Damiao	RobStride	MyActuator	HighTorque	Hexfellow
`MIT`	Native MIT	Native MIT	Not supported	Mapped to native pos+vel+tqe	Native MIT
`POS_VEL`	Native POS_VEL	Native position flow (`run_mode=1 + loc_ref + limit_spd`)	Native position flow	Native POS_VEL	Native POS_VEL
`VEL`	Native VEL	Native Velocity	Native Velocity	Native Velocity	Not supported
`FORCE_POS`	Native FORCE_POS	Not supported	Not supported	Mapped to native pos+vel+tqe	Not supported

Vendor-Native Commands (Beyond Unified Modes)

These vendor-native commands are available alongside the unified four modes, mainly for commissioning and debugging.

Vendor	Native Entrypoints (examples)	Notes
Damiao	`id-dump`, `id-set`, `damiao-read-param`, `damiao-write-param --store 1` (CLI) + `set_zero_position()` (API)	Register/parameter R/W, ID update, zeroing flow
RobStride	`ping`, `robstride-read-param`, `robstride-write-param --store 1`, `run --mode read-param/write-param/save`	29-bit extended-frame parameter path; runtime parameters use the common section 4 table (`0x7005..0x702E`); save uses type 22 with status ACK
MyActuator	Vendor-native command path (adapter exposed)	Position/velocity-first flow, limited register surface
HighTorque	Vendor-native command path (adapter exposed)	Scaling handled automatically under the unified API
Hexfellow	CAN-FD native path (`socketcanfd`)	Primarily MIT/POS_VEL, requires CAN-FD

RobStride Native Parameter Command (Cross-Platform)

Linux / macOS:

motorbridge-cli robstride-read-param \
  --channel can0 --model rs-06 --motor-id 127 \
  --param-id 0x7019 --type f32 --timeout-ms 500

Windows (PowerShell):

motorbridge-cli robstride-read-param `
  --channel can0@1000000 --model rs-06 --motor-id 127 `
  --param-id 0x7019 --type f32 --timeout-ms 500

Use --model rs-06 only for a physical RS06 motor. For other RS00-RS05 motors, replace it with the actual model for limits/logging; runtime read-param / write-param uses the common section 4 table. Persist a RobStride parameter in v0.5.0:

motorbridge-cli robstride-write-param \
  --channel can0 --model rs-06 --motor-id 127 \
  --param-id 0x701E --type f32 --value 30.0 --verify 1 --store 1

Cross-Platform Command Templates

All examples below use the unified Python package CLI: motorbridge-cli.

Linux (Ubuntu / SocketCAN)

# RobStride POS_VEL (supported)
motorbridge-cli run \
  --vendor robstride --transport auto --channel can0 \
  --model rs-06 --motor-id 127 --feedback-id 0xFD \
  --mode pos-vel --pos 1.5 --vlim 1.0 --loc-kp 5.0 --loop 1 --dt-ms 20

# Damiao FORCE_POS
motorbridge-cli run \
  --vendor damiao --transport auto --channel can0 \
  --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --mode force-pos --pos 0.8 --vlim 1.5 --ratio 0.3 --loop 20 --dt-ms 20

macOS

# CAN path (requires PCBUSB runtime)
motorbridge-cli run \
  --vendor robstride --transport auto --channel can0 \
  --model rs-06 --motor-id 127 --feedback-id 0xFD \
  --mode pos-vel --pos 1.5 --vlim 1.0 --loc-kp 5.0 --loop 1 --dt-ms 20

# Damiao dm-serial path (no CAN runtime needed)
motorbridge-cli run \
  --vendor damiao --transport dm-serial \
  --serial-port /dev/cu.usbmodemXXXX --serial-baud 921600 \
  --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --mode mit --pos 0.5 --vel 0 --kp 20 --kd 1 --tau 0 --loop 20 --dt-ms 20

Windows (PowerShell / PCAN)

# RobStride POS_VEL (PCAN channel example)
motorbridge-cli run `
  --vendor robstride --transport auto --channel can0@1000000 `
  --model rs-06 --motor-id 127 --feedback-id 0xFD `
  --mode pos-vel --pos 1.5 --vlim 1.0 --loc-kp 5.0 --loop 1 --dt-ms 20

# Damiao FORCE_POS
motorbridge-cli run `
  --vendor damiao --transport auto --channel can0@1000000 `
  --model 4340P --motor-id 0x01 --feedback-id 0x11 `
  --mode force-pos --pos 0.8 --vlim 1.5 --ratio 0.3 --loop 20 --dt-ms 20

Notes:

Linux/macOS CAN channel is typically can0.
Windows PCAN is typically can0@1000000.
dm-serial is Damiao-only.

Host / Feedback ID Notes

Vendor	Recommended feedback/host ID policy
Damiao	Distinct feedback ID per motor path (`motor_id + base`)
RobStride	Default to `0xFD`; runtime may fallback probe `0xFF/0xFE`
MyActuator	`0x240 + motor_id`
HighTorque	Fixed by protocol path
Hexfellow	Fixed by protocol path

Register / Parameter Access

Vendor	Read	Write	Persist
Damiao	Full register API	Full register API	Yes
RobStride	Typed parameter API	Typed parameter API	Yes
MyActuator	Limited	Limited	Yes
HighTorque	Limited	Limited	Yes
Hexfellow	Limited	Limited	Yes

RobStride Parameter API

motor.robstride_get_param_i8(param_id, timeout_ms)
motor.robstride_get_param_u8(param_id, timeout_ms)
motor.robstride_get_param_u16(param_id, timeout_ms)
motor.robstride_get_param_u32(param_id, timeout_ms)
motor.robstride_get_param_f32(param_id, timeout_ms)

motor.robstride_write_param_i8(param_id, value)
motor.robstride_write_param_u8(param_id, value)
motor.robstride_write_param_u16(param_id, value)
motor.robstride_write_param_u32(param_id, value)
motor.robstride_write_param_f32(param_id, value)

Reference Example (RobStride)

from motorbridge import Controller, Mode

with Controller("can0") as ctrl:
    motor = ctrl.add_robstride_motor(6, 0xFD, "rs-06")  # replace with the RS model you use for limits/logging
    ctrl.enable_all()

    motor.ensure_mode(Mode.POS_VEL, 1000)
    motor.send_pos_vel(0.3, 2.0)

    motor.ensure_mode(Mode.MIT, 1000)
    motor.send_mit(0.0, 0.0, 8.0, 0.3, 0.0)

Device-ID and Zeroing Status (RobStride)

set-id: available and aligned with upper-tool style frame semantics.
zero: available via control command path, with firmware-dependent ACK behavior.
For production commissioning, always verify by reading back mechPos / status after zero or ID changes.

Get Started

Tutorials

API Reference

Best Practices

Reference

Source: Repository

Source: Project Docs

Source: Python Binding

Source: C++ Binding

Source: Rust CLI

Source: Examples

Source: Transports

Source: Integrations

Source: Tools & Vendors

Vendor capability matrix

Reference: Vendor Capability Matrix

Vendor Overview

Unified Mode Support

RobStride Mapping Notes

Unified Mode -> Native Vendor Mapping

Vendor-Native Commands (Beyond Unified Modes)

RobStride Native Parameter Command (Cross-Platform)

Cross-Platform Command Templates

Linux (Ubuntu / SocketCAN)

macOS

Windows (PowerShell / PCAN)

Host / Feedback ID Notes

Register / Parameter Access

RobStride Parameter API

Reference Example (RobStride)

Device-ID and Zeroing Status (RobStride)

​Reference: Vendor Capability Matrix

​Vendor Overview

​Unified Mode Support

​RobStride Mapping Notes

​Unified Mode -> Native Vendor Mapping

​Vendor-Native Commands (Beyond Unified Modes)

​RobStride Native Parameter Command (Cross-Platform)

​Cross-Platform Command Templates

​Linux (Ubuntu / SocketCAN)

​macOS

​Windows (PowerShell / PCAN)

​Host / Feedback ID Notes

​Register / Parameter Access

​RobStride Parameter API

​Reference Example (RobStride)

​Device-ID and Zeroing Status (RobStride)

Reference: Vendor Capability Matrix

Vendor Overview

Unified Mode Support

RobStride Mapping Notes

Unified Mode -> Native Vendor Mapping

Vendor-Native Commands (Beyond Unified Modes)

RobStride Native Parameter Command (Cross-Platform)

Cross-Platform Command Templates

Linux (Ubuntu / SocketCAN)

macOS

Windows (PowerShell / PCAN)

Host / Feedback ID Notes

Register / Parameter Access

RobStride Parameter API

Reference Example (RobStride)

Device-ID and Zeroing Status (RobStride)