{ "openapi": "3.1.0", "info": { "title": "getactuators API", "version": "1.0.0", "summary": "Read-only REST API over the getactuators robot actuator and robot catalog.", "description": "Free, anonymous, read-only access to every actuator and robot on https://getactuators.com. No API key, no account, no writes: production is safe to call, so there is no separate sandbox.\n\n**Rate limits:** 120 requests per 60s per client IP, reported in `RateLimit`/`RateLimit-Policy` and `X-RateLimit-*` headers; a 429 carries `Retry-After`.\n\n**Errors:** RFC 9457 `application/problem+json` with a stable `code`.\n\n**Versioning and deprecation:** Breaking changes ship only under a new path version (/api/v2). A deprecated operation keeps working for at least 6 months after it is marked: responses carry `Deprecation` (RFC 9745) and `Sunset` (RFC 8594) headers plus a `Link rel=\"deprecation\"` to the changelog, and the operation is flagged `deprecated: true` here. Additive changes (new fields, endpoints, filters) can land at any time, so clients should ignore unknown fields.", "contact": { "name": "getactuators on GitHub", "url": "https://github.com/Miyamura80/getactuators/issues" }, "license": { "name": "MIT", "identifier": "MIT" }, "x-deprecation-policy": "Breaking changes ship only under a new path version (/api/v2). A deprecated operation keeps working for at least 6 months after it is marked: responses carry `Deprecation` (RFC 9745) and `Sunset` (RFC 8594) headers plus a `Link rel=\"deprecation\"` to the changelog, and the operation is flagged `deprecated: true` here. Additive changes (new fields, endpoints, filters) can land at any time, so clients should ignore unknown fields." }, "servers": [ { "url": "https://getactuators.com", "description": "Production. Read-only, so it doubles as the sandbox." } ], "security": [], "tags": [ { "name": "actuators", "description": "Actuator search, detail and comparison." }, { "name": "robots", "description": "Robots and the motors in their joints." }, { "name": "taxonomy", "description": "Categories, brands and use cases for filters." }, { "name": "meta", "description": "Discovery: index and this document." } ], "externalDocs": { "description": "Developer guide", "url": "https://getactuators.com/docs/api" }, "paths": { "/api": { "get": { "operationId": "get_api_index", "summary": "API index", "description": "Machine-readable entry point: every endpoint with its method and summary, plus links to the docs, the OpenAPI document and the MCP server.", "tags": [ "meta" ], "responses": { "200": { "description": "Success.", "headers": { "API-Version": { "$ref": "#/components/headers/API-Version" }, "RateLimit": { "$ref": "#/components/headers/RateLimit" }, "RateLimit-Policy": { "$ref": "#/components/headers/RateLimit-Policy" }, "X-RateLimit-Limit": { "$ref": "#/components/headers/X-RateLimit-Limit" }, "X-RateLimit-Remaining": { "$ref": "#/components/headers/X-RateLimit-Remaining" }, "X-RateLimit-Reset": { "$ref": "#/components/headers/X-RateLimit-Reset" } }, "content": { "application/json": { "schema": { "$ref": "#/components/schemas/ApiIndex" } } } }, "405": { "$ref": "#/components/responses/Problem405" }, "429": { "$ref": "#/components/responses/Problem429" }, "500": { "$ref": "#/components/responses/Problem500" } } } }, "/openapi.json": { "get": { "operationId": "get_openapi_spec", "summary": "OpenAPI document", "description": "This OpenAPI 3.1 description of the API (also at /api/openapi.json).", "tags": [ "meta" ], "responses": { "200": { "description": "Success.", "headers": { "API-Version": { "$ref": "#/components/headers/API-Version" }, "RateLimit": { "$ref": "#/components/headers/RateLimit" }, "RateLimit-Policy": { "$ref": "#/components/headers/RateLimit-Policy" }, "X-RateLimit-Limit": { "$ref": "#/components/headers/X-RateLimit-Limit" }, "X-RateLimit-Remaining": { "$ref": "#/components/headers/X-RateLimit-Remaining" }, "X-RateLimit-Reset": { "$ref": "#/components/headers/X-RateLimit-Reset" } }, "content": { "application/json": { "schema": { "$ref": "#/components/schemas/OpenApiDocument" } } } }, "405": { "$ref": "#/components/responses/Problem405" }, "429": { "$ref": "#/components/responses/Problem429" }, "500": { "$ref": "#/components/responses/Problem500" } } } }, "/api/v1/actuators": { "get": { "operationId": "list_actuators", "summary": "Search and filter actuators", "description": "List robot actuators with optional filters (text, category, brand, use case, torque, mass, price, backdrivability, onboard driver) and sorting. Cursor-paginated: follow `pagination.next_cursor` until `has_more` is false.", "tags": [ "actuators" ], "parameters": [ { "name": "q", "in": "query", "required": false, "description": "Free-text search over id, name, brand, category, use cases, notes.", "schema": { "type": "string" } }, { "name": "category", "in": "query", "required": false, "description": "Category slug.", "schema": { "type": "string", "enum": [ "qdd_proprioceptive", "integrated_joint", "smart_servo", "harmonic_precision", "frameless_driver", "cycloidal_premium" ] } }, { "name": "brand", "in": "query", "required": false, "description": "Exact brand name (case-insensitive).", "schema": { "type": "string" } }, { "name": "use_case", "in": "query", "required": false, "description": "Use-case tag, e.g. `humanoid`.", "schema": { "type": "string" } }, { "name": "min_peak_torque_nm", "in": "query", "required": false, "description": "Minimum peak torque in N·m.", "schema": { "type": "number", "minimum": 0 } }, { "name": "max_weight_g", "in": "query", "required": false, "description": "Maximum mass in grams.", "schema": { "type": "number", "minimum": 0 } }, { "name": "max_price_usd", "in": "query", "required": false, "description": "Maximum list price in USD.", "schema": { "type": "number", "minimum": 0 } }, { "name": "backdrivable", "in": "query", "required": false, "description": "Only backdrivable (`true`) or non-backdrivable (`false`).", "schema": { "type": "string", "enum": [ "true", "false" ] } }, { "name": "integrated_driver", "in": "query", "required": false, "description": "Only actuators with (`true`) or without an onboard driver.", "schema": { "type": "string", "enum": [ "true", "false" ] } }, { "name": "sort", "in": "query", "required": false, "description": "Sort field (default: id).", "schema": { "type": "string", "enum": [ "peak_torque_nm", "rated_torque_nm", "max_speed_rpm", "weight_g", "torque_density_nm_per_kg", "price_usd", "price_per_nm", "backlash_arcmin", "name" ] } }, { "name": "order", "in": "query", "required": false, "description": "Sort direction (default desc when `sort` is set).", "schema": { "type": "string", "enum": [ "asc", "desc" ] } }, { "name": "limit", "in": "query", "required": false, "description": "Page size, 1 to 100 (default 25).", "schema": { "default": 25, "type": "integer", "minimum": 1, "maximum": 100 } }, { "name": "cursor", "in": "query", "required": false, "description": "Opaque `pagination.next_cursor` from the previous page.", "schema": { "type": "string", "minLength": 1 } } ], "responses": { "200": { "description": "Success.", "headers": { "API-Version": { "$ref": "#/components/headers/API-Version" }, "RateLimit": { "$ref": "#/components/headers/RateLimit" }, "RateLimit-Policy": { "$ref": "#/components/headers/RateLimit-Policy" }, "X-RateLimit-Limit": { "$ref": "#/components/headers/X-RateLimit-Limit" }, "X-RateLimit-Remaining": { "$ref": "#/components/headers/X-RateLimit-Remaining" }, "X-RateLimit-Reset": { "$ref": "#/components/headers/X-RateLimit-Reset" } }, "content": { "application/json": { "schema": { "$ref": "#/components/schemas/ActuatorList" } } } }, "400": { "$ref": "#/components/responses/Problem400" }, "405": { "$ref": "#/components/responses/Problem405" }, "429": { "$ref": "#/components/responses/Problem429" }, "500": { "$ref": "#/components/responses/Problem500" } } } }, "/api/v1/actuators/compare": { "get": { "operationId": "compare_actuators", "summary": "Fetch several actuators by id", "description": "Batch lookup of up to 20 actuators by id for side-by-side comparison. Results keep request order; unknown ids are listed in `not_found` instead of failing the whole request.", "tags": [ "actuators" ], "parameters": [ { "name": "ids", "in": "query", "required": true, "description": "Comma-separated actuator ids, 1 to 20, e.g. `a,b,c`.", "schema": { "type": "string", "minLength": 1 } } ], "responses": { "200": { "description": "Success.", "headers": { "API-Version": { "$ref": "#/components/headers/API-Version" }, "RateLimit": { "$ref": "#/components/headers/RateLimit" }, "RateLimit-Policy": { "$ref": "#/components/headers/RateLimit-Policy" }, "X-RateLimit-Limit": { "$ref": "#/components/headers/X-RateLimit-Limit" }, "X-RateLimit-Remaining": { "$ref": "#/components/headers/X-RateLimit-Remaining" }, "X-RateLimit-Reset": { "$ref": "#/components/headers/X-RateLimit-Reset" } }, "content": { "application/json": { "schema": { "$ref": "#/components/schemas/CompareResult" } } } }, "400": { "$ref": "#/components/responses/Problem400" }, "405": { "$ref": "#/components/responses/Problem405" }, "429": { "$ref": "#/components/responses/Problem429" }, "500": { "$ref": "#/components/responses/Problem500" } } }, "post": { "operationId": "compare_actuators_batch", "summary": "Fetch several actuators by id (JSON body)", "description": "Same as `compare_actuators` but takes `{\"ids\": [...]}` (1 to 20 ids) as a JSON body. Read-only and safe to retry: an `Idempotency-Key` header is accepted but not required.", "tags": [ "actuators" ], "parameters": [ { "$ref": "#/components/parameters/IdempotencyKey" } ], "requestBody": { "required": true, "content": { "application/json": { "schema": { "$ref": "#/components/schemas/CompareRequest" } } } }, "responses": { "200": { "description": "Success.", "headers": { "API-Version": { "$ref": "#/components/headers/API-Version" }, "RateLimit": { "$ref": "#/components/headers/RateLimit" }, "RateLimit-Policy": { "$ref": "#/components/headers/RateLimit-Policy" }, "X-RateLimit-Limit": { "$ref": "#/components/headers/X-RateLimit-Limit" }, "X-RateLimit-Remaining": { "$ref": "#/components/headers/X-RateLimit-Remaining" }, "X-RateLimit-Reset": { "$ref": "#/components/headers/X-RateLimit-Reset" } }, "content": { "application/json": { "schema": { "$ref": "#/components/schemas/CompareResult" } } } }, "400": { "$ref": "#/components/responses/Problem400" }, "405": { "$ref": "#/components/responses/Problem405" }, "415": { "$ref": "#/components/responses/Problem415" }, "422": { "$ref": "#/components/responses/Problem422" }, "429": { "$ref": "#/components/responses/Problem429" }, "500": { "$ref": "#/components/responses/Problem500" } } } }, "/api/v1/actuators/{id}": { "get": { "operationId": "get_actuator", "summary": "Get one actuator", "description": "Full specifications for one actuator, plus `robots_using`: the robots in the catalog whose joints use it.", "tags": [ "actuators" ], "parameters": [ { "name": "id", "in": "path", "required": true, "description": "Actuator id (slug).", "schema": { "type": "string", "examples": [ "robstride-02" ] } } ], "responses": { "200": { "description": "Success.", "headers": { "API-Version": { "$ref": "#/components/headers/API-Version" }, "RateLimit": { "$ref": "#/components/headers/RateLimit" }, "RateLimit-Policy": { "$ref": "#/components/headers/RateLimit-Policy" }, "X-RateLimit-Limit": { "$ref": "#/components/headers/X-RateLimit-Limit" }, "X-RateLimit-Remaining": { "$ref": "#/components/headers/X-RateLimit-Remaining" }, "X-RateLimit-Reset": { "$ref": "#/components/headers/X-RateLimit-Reset" } }, "content": { "application/json": { "schema": { "$ref": "#/components/schemas/ActuatorDetail" } } } }, "404": { "$ref": "#/components/responses/Problem404" }, "405": { "$ref": "#/components/responses/Problem405" }, "429": { "$ref": "#/components/responses/Problem429" }, "500": { "$ref": "#/components/responses/Problem500" } } } }, "/api/v1/robots": { "get": { "operationId": "list_robots", "summary": "List robots", "description": "Robots (arms, humanoids, quadrupeds) in the catalog with headline specs. Cursor-paginated like `list_actuators`.", "tags": [ "robots" ], "parameters": [ { "name": "q", "in": "query", "required": false, "description": "Free-text search over name, brand, summary.", "schema": { "type": "string" } }, { "name": "brand", "in": "query", "required": false, "description": "Exact brand name (case-insensitive).", "schema": { "type": "string" } }, { "name": "limit", "in": "query", "required": false, "description": "Page size, 1 to 100 (default 25).", "schema": { "default": 25, "type": "integer", "minimum": 1, "maximum": 100 } }, { "name": "cursor", "in": "query", "required": false, "description": "Opaque `pagination.next_cursor` from the previous page.", "schema": { "type": "string", "minLength": 1 } } ], "responses": { "200": { "description": "Success.", "headers": { "API-Version": { "$ref": "#/components/headers/API-Version" }, "RateLimit": { "$ref": "#/components/headers/RateLimit" }, "RateLimit-Policy": { "$ref": "#/components/headers/RateLimit-Policy" }, "X-RateLimit-Limit": { "$ref": "#/components/headers/X-RateLimit-Limit" }, "X-RateLimit-Remaining": { "$ref": "#/components/headers/X-RateLimit-Remaining" }, "X-RateLimit-Reset": { "$ref": "#/components/headers/X-RateLimit-Reset" } }, "content": { "application/json": { "schema": { "$ref": "#/components/schemas/RobotList" } } } }, "400": { "$ref": "#/components/responses/Problem400" }, "405": { "$ref": "#/components/responses/Problem405" }, "429": { "$ref": "#/components/responses/Problem429" }, "500": { "$ref": "#/components/responses/Problem500" } } } }, "/api/v1/robots/{id}": { "get": { "operationId": "get_robot", "summary": "Get one robot with its joint motors", "description": "One robot with every joint group resolved to its motor specs, linked to the matching catalog actuator when there is one.", "tags": [ "robots" ], "parameters": [ { "name": "id", "in": "path", "required": true, "description": "Robot id (slug).", "schema": { "type": "string", "examples": [ "i2rt-yam" ] } } ], "responses": { "200": { "description": "Success.", "headers": { "API-Version": { "$ref": "#/components/headers/API-Version" }, "RateLimit": { "$ref": "#/components/headers/RateLimit" }, "RateLimit-Policy": { "$ref": "#/components/headers/RateLimit-Policy" }, "X-RateLimit-Limit": { "$ref": "#/components/headers/X-RateLimit-Limit" }, "X-RateLimit-Remaining": { "$ref": "#/components/headers/X-RateLimit-Remaining" }, "X-RateLimit-Reset": { "$ref": "#/components/headers/X-RateLimit-Reset" } }, "content": { "application/json": { "schema": { "$ref": "#/components/schemas/RobotDetail" } } } }, "404": { "$ref": "#/components/responses/Problem404" }, "405": { "$ref": "#/components/responses/Problem405" }, "429": { "$ref": "#/components/responses/Problem429" }, "500": { "$ref": "#/components/responses/Problem500" } } } }, "/api/v1/categories": { "get": { "operationId": "list_categories", "summary": "List actuator categories", "description": "Every category slug with a label, description and actuator count.", "tags": [ "taxonomy" ], "responses": { "200": { "description": "Success.", "headers": { "API-Version": { "$ref": "#/components/headers/API-Version" }, "RateLimit": { "$ref": "#/components/headers/RateLimit" }, "RateLimit-Policy": { "$ref": "#/components/headers/RateLimit-Policy" }, "X-RateLimit-Limit": { "$ref": "#/components/headers/X-RateLimit-Limit" }, "X-RateLimit-Remaining": { "$ref": "#/components/headers/X-RateLimit-Remaining" }, "X-RateLimit-Reset": { "$ref": "#/components/headers/X-RateLimit-Reset" } }, "content": { "application/json": { "schema": { "$ref": "#/components/schemas/CategoryList" } } } }, "405": { "$ref": "#/components/responses/Problem405" }, "429": { "$ref": "#/components/responses/Problem429" }, "500": { "$ref": "#/components/responses/Problem500" } } } }, "/api/v1/brands": { "get": { "operationId": "list_brands", "summary": "List actuator brands", "description": "Every brand name (usable as the `brand` filter) with its actuator count.", "tags": [ "taxonomy" ], "responses": { "200": { "description": "Success.", "headers": { "API-Version": { "$ref": "#/components/headers/API-Version" }, "RateLimit": { "$ref": "#/components/headers/RateLimit" }, "RateLimit-Policy": { "$ref": "#/components/headers/RateLimit-Policy" }, "X-RateLimit-Limit": { "$ref": "#/components/headers/X-RateLimit-Limit" }, "X-RateLimit-Remaining": { "$ref": "#/components/headers/X-RateLimit-Remaining" }, "X-RateLimit-Reset": { "$ref": "#/components/headers/X-RateLimit-Reset" } }, "content": { "application/json": { "schema": { "$ref": "#/components/schemas/NamedCountList" } } } }, "405": { "$ref": "#/components/responses/Problem405" }, "429": { "$ref": "#/components/responses/Problem429" }, "500": { "$ref": "#/components/responses/Problem500" } } } }, "/api/v1/use-cases": { "get": { "operationId": "list_use_cases", "summary": "List use-case tags", "description": "Every use-case tag (usable as the `use_case` filter) with its actuator count.", "tags": [ "taxonomy" ], "responses": { "200": { "description": "Success.", "headers": { "API-Version": { "$ref": "#/components/headers/API-Version" }, "RateLimit": { "$ref": "#/components/headers/RateLimit" }, "RateLimit-Policy": { "$ref": "#/components/headers/RateLimit-Policy" }, "X-RateLimit-Limit": { "$ref": "#/components/headers/X-RateLimit-Limit" }, "X-RateLimit-Remaining": { "$ref": "#/components/headers/X-RateLimit-Remaining" }, "X-RateLimit-Reset": { "$ref": "#/components/headers/X-RateLimit-Reset" } }, "content": { "application/json": { "schema": { "$ref": "#/components/schemas/NamedCountList" } } } }, "405": { "$ref": "#/components/responses/Problem405" }, "429": { "$ref": "#/components/responses/Problem429" }, "500": { "$ref": "#/components/responses/Problem500" } } } } }, "components": { "schemas": { "Actuator": { "type": "object", "properties": { "id": { "type": "string", "description": "Stable slug, e.g. `robstride-02`." }, "name": { "type": "string" }, "brand": { "type": "string" }, "category": { "type": "string", "enum": [ "qdd_proprioceptive", "integrated_joint", "smart_servo", "harmonic_precision", "frameless_driver", "cycloidal_premium" ] }, "use_cases": { "type": "array", "items": { "type": "string" } }, "image_url": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Product image URL." }, "product_url": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Manufacturer product page." }, "datasheet_url": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Datasheet URL." }, "price_usd": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "List price in USD, when public." }, "availability": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "in_production, discontinued, eol or unknown." }, "peak_torque_nm": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Peak torque in N·m." }, "rated_torque_nm": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Rated (continuous) torque in N·m." }, "max_speed_rpm": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Max output speed in rpm." }, "gear_ratio": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Gear ratio, e.g. `9:1`." }, "weight_g": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Mass in grams." }, "torque_density_nm_per_kg": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Peak torque divided by mass." }, "backdrivable": { "anyOf": [ { "type": "boolean" }, { "type": "null" } ] }, "backlash_arcmin": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Backlash in arc-minutes." }, "repeatability_arcmin": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Repeatability in arc-minutes." }, "voltage_v": { "anyOf": [ { "anyOf": [ { "type": "string" }, { "type": "number" } ] }, { "type": "null" } ], "description": "Supply voltage (number) or range (string)." }, "peak_current_a": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Peak current in A." }, "power_w": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Power in W." }, "kt_nm_per_a": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Torque constant in N·m/A." }, "comm": { "anyOf": [ { "type": "array", "items": { "type": "string" } }, { "type": "null" } ], "description": "Bus protocols." }, "control_modes": { "anyOf": [ { "type": "array", "items": { "type": "string" } }, { "type": "null" } ] }, "encoder": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Encoder description." }, "integrated_driver": { "anyOf": [ { "type": "boolean" }, { "type": "null" } ] }, "ip_rating": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Ingress protection rating." }, "notes": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Free-text notes." }, "sources": { "type": "array", "items": { "type": "string" }, "description": "Source URLs for the specs." }, "price_per_nm": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "price_usd divided by peak_torque_nm." }, "data_source": { "type": "string" }, "verified": { "type": "boolean", "description": "Specs spot-checked against a source." }, "country": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Manufacturer country." }, "country_flag": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Flag emoji for country." }, "source_url": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Primary source URL." }, "source_domain": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Domain of source_url." }, "url": { "type": "string", "description": "Human-readable page on getactuators.com." }, "api_url": { "type": "string", "description": "Canonical API URL of this resource." } }, "required": [ "id", "name", "brand", "category", "use_cases", "image_url", "product_url", "datasheet_url", "price_usd", "availability", "peak_torque_nm", "rated_torque_nm", "max_speed_rpm", "gear_ratio", "weight_g", "torque_density_nm_per_kg", "backdrivable", "backlash_arcmin", "repeatability_arcmin", "voltage_v", "peak_current_a", "power_w", "kt_nm_per_a", "comm", "control_modes", "encoder", "integrated_driver", "ip_rating", "notes", "sources", "price_per_nm", "data_source", "verified", "country", "country_flag", "source_url", "source_domain", "url", "api_url" ], "additionalProperties": false, "description": "A robot actuator with its published specifications." }, "RobotRef": { "type": "object", "properties": { "id": { "type": "string" }, "name": { "type": "string" }, "brand": { "type": "string" }, "url": { "type": "string" }, "api_url": { "type": "string" } }, "required": [ "id", "name", "brand", "url", "api_url" ], "additionalProperties": false }, "ActuatorDetail": { "type": "object", "properties": { "id": { "type": "string", "description": "Stable slug, e.g. `robstride-02`." }, "name": { "type": "string" }, "brand": { "type": "string" }, "category": { "type": "string", "enum": [ "qdd_proprioceptive", "integrated_joint", "smart_servo", "harmonic_precision", "frameless_driver", "cycloidal_premium" ] }, "use_cases": { "type": "array", "items": { "type": "string" } }, "image_url": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Product image URL." }, "product_url": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Manufacturer product page." }, "datasheet_url": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Datasheet URL." }, "price_usd": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "List price in USD, when public." }, "availability": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "in_production, discontinued, eol or unknown." }, "peak_torque_nm": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Peak torque in N·m." }, "rated_torque_nm": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Rated (continuous) torque in N·m." }, "max_speed_rpm": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Max output speed in rpm." }, "gear_ratio": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Gear ratio, e.g. `9:1`." }, "weight_g": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Mass in grams." }, "torque_density_nm_per_kg": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Peak torque divided by mass." }, "backdrivable": { "anyOf": [ { "type": "boolean" }, { "type": "null" } ] }, "backlash_arcmin": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Backlash in arc-minutes." }, "repeatability_arcmin": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Repeatability in arc-minutes." }, "voltage_v": { "anyOf": [ { "anyOf": [ { "type": "string" }, { "type": "number" } ] }, { "type": "null" } ], "description": "Supply voltage (number) or range (string)." }, "peak_current_a": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Peak current in A." }, "power_w": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Power in W." }, "kt_nm_per_a": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Torque constant in N·m/A." }, "comm": { "anyOf": [ { "type": "array", "items": { "type": "string" } }, { "type": "null" } ], "description": "Bus protocols." }, "control_modes": { "anyOf": [ { "type": "array", "items": { "type": "string" } }, { "type": "null" } ] }, "encoder": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Encoder description." }, "integrated_driver": { "anyOf": [ { "type": "boolean" }, { "type": "null" } ] }, "ip_rating": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Ingress protection rating." }, "notes": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Free-text notes." }, "sources": { "type": "array", "items": { "type": "string" }, "description": "Source URLs for the specs." }, "price_per_nm": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "price_usd divided by peak_torque_nm." }, "data_source": { "type": "string" }, "verified": { "type": "boolean", "description": "Specs spot-checked against a source." }, "country": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Manufacturer country." }, "country_flag": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Flag emoji for country." }, "source_url": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Primary source URL." }, "source_domain": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Domain of source_url." }, "url": { "type": "string", "description": "Human-readable page on getactuators.com." }, "api_url": { "type": "string", "description": "Canonical API URL of this resource." }, "robots_using": { "type": "array", "items": { "$ref": "#/components/schemas/RobotRef" }, "description": "Robots in the catalog whose joints use this actuator." } }, "required": [ "id", "name", "brand", "category", "use_cases", "image_url", "product_url", "datasheet_url", "price_usd", "availability", "peak_torque_nm", "rated_torque_nm", "max_speed_rpm", "gear_ratio", "weight_g", "torque_density_nm_per_kg", "backdrivable", "backlash_arcmin", "repeatability_arcmin", "voltage_v", "peak_current_a", "power_w", "kt_nm_per_a", "comm", "control_modes", "encoder", "integrated_driver", "ip_rating", "notes", "sources", "price_per_nm", "data_source", "verified", "country", "country_flag", "source_url", "source_domain", "url", "api_url", "robots_using" ], "additionalProperties": false }, "Joint": { "type": "object", "properties": { "role": { "type": "string", "description": "Joint group, e.g. `Shoulder (J1-J3)`." }, "count": { "type": "number", "description": "Number of joints in this group." }, "motor": { "type": "object", "properties": { "id": { "type": "string" }, "name": { "type": "string" }, "brand": { "type": "string" }, "rated_torque_nm": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Rated torque in N·m." }, "peak_torque_nm": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Peak torque in N·m." }, "rated_speed_rpm": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Rated speed in rpm." }, "gear_ratio": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Gear ratio." }, "weight_g": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Mass in grams." }, "torque_density_nm_per_kg": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Torque density." }, "product_url": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Product page." }, "actuator_id": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Catalog actuator id, when the motor is listed." }, "actuator_api_url": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "API URL of the linked actuator, if any." } }, "required": [ "id", "name", "brand", "rated_torque_nm", "peak_torque_nm", "rated_speed_rpm", "gear_ratio", "weight_g", "torque_density_nm_per_kg", "product_url", "actuator_id", "actuator_api_url" ], "additionalProperties": false } }, "required": [ "role", "count", "motor" ], "additionalProperties": false }, "Robot": { "type": "object", "properties": { "id": { "type": "string" }, "name": { "type": "string" }, "brand": { "type": "string" }, "country": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Manufacturer country." }, "country_flag": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Flag emoji." }, "dof": { "type": "number", "description": "Degrees of freedom." }, "payload_kg": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Payload in kg." }, "reach_mm": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Reach in mm." }, "weight_kg": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Mass in kg." }, "price_usd": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Price (or lower bound) in USD." }, "price_max_usd": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Upper price bound in USD, if a range." }, "product_url": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Product page." }, "image_url": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Image URL." }, "summary": { "type": "string" }, "sources": { "type": "array", "items": { "type": "string" } }, "url": { "type": "string" }, "api_url": { "type": "string" }, "joint_count": { "type": "number" } }, "required": [ "id", "name", "brand", "country", "country_flag", "dof", "payload_kg", "reach_mm", "weight_kg", "price_usd", "price_max_usd", "product_url", "image_url", "summary", "sources", "url", "api_url", "joint_count" ], "additionalProperties": false, "description": "A robot." }, "RobotDetail": { "type": "object", "properties": { "id": { "type": "string" }, "name": { "type": "string" }, "brand": { "type": "string" }, "country": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Manufacturer country." }, "country_flag": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Flag emoji." }, "dof": { "type": "number", "description": "Degrees of freedom." }, "payload_kg": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Payload in kg." }, "reach_mm": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Reach in mm." }, "weight_kg": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Mass in kg." }, "price_usd": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Price (or lower bound) in USD." }, "price_max_usd": { "anyOf": [ { "type": "number" }, { "type": "null" } ], "description": "Upper price bound in USD, if a range." }, "product_url": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Product page." }, "image_url": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Image URL." }, "summary": { "type": "string" }, "sources": { "type": "array", "items": { "type": "string" } }, "url": { "type": "string" }, "api_url": { "type": "string" }, "joints": { "type": "array", "items": { "$ref": "#/components/schemas/Joint" } } }, "required": [ "id", "name", "brand", "country", "country_flag", "dof", "payload_kg", "reach_mm", "weight_kg", "price_usd", "price_max_usd", "product_url", "image_url", "summary", "sources", "url", "api_url", "joints" ], "additionalProperties": false }, "Pagination": { "type": "object", "properties": { "next_cursor": { "anyOf": [ { "type": "string" }, { "type": "null" } ], "description": "Opaque cursor for the next page; null on the last page." }, "has_more": { "type": "boolean" }, "total": { "type": "number", "description": "Total matching items across all pages." } }, "required": [ "next_cursor", "has_more", "total" ], "additionalProperties": false }, "ActuatorList": { "type": "object", "properties": { "data": { "type": "array", "items": { "$ref": "#/components/schemas/Actuator" } }, "pagination": { "$ref": "#/components/schemas/Pagination" } }, "required": [ "data", "pagination" ], "additionalProperties": false }, "RobotList": { "type": "object", "properties": { "data": { "type": "array", "items": { "$ref": "#/components/schemas/Robot" } }, "pagination": { "$ref": "#/components/schemas/Pagination" } }, "required": [ "data", "pagination" ], "additionalProperties": false }, "CompareResult": { "type": "object", "properties": { "data": { "type": "array", "items": { "type": "object", "properties": { "id": { "type": "string" }, "found": { "type": "boolean" }, "actuator": { "anyOf": [ { "$ref": "#/components/schemas/Actuator" }, { "type": "null" } ] } }, "required": [ "id", "found", "actuator" ], "additionalProperties": false } }, "not_found": { "type": "array", "items": { "type": "string" }, "description": "Requested ids with no match." } }, "required": [ "data", "not_found" ], "additionalProperties": false }, "CategoryList": { "type": "object", "properties": { "data": { "type": "array", "items": { "type": "object", "properties": { "slug": { "type": "string", "enum": [ "qdd_proprioceptive", "integrated_joint", "smart_servo", "harmonic_precision", "frameless_driver", "cycloidal_premium" ] }, "label": { "type": "string" }, "description": { "type": "string" }, "actuator_count": { "type": "number" } }, "required": [ "slug", "label", "description", "actuator_count" ], "additionalProperties": false } } }, "required": [ "data" ], "additionalProperties": false }, "NamedCountList": { "type": "object", "properties": { "data": { "type": "array", "items": { "type": "object", "properties": { "name": { "type": "string" }, "actuator_count": { "type": "number" } }, "required": [ "name", "actuator_count" ], "additionalProperties": false } } }, "required": [ "data" ], "additionalProperties": false }, "ApiIndex": { "type": "object", "properties": { "name": { "type": "string" }, "version": { "type": "string" }, "description": { "type": "string" }, "auth": { "type": "string" }, "docs": { "type": "string" }, "openapi": { "type": "string" }, "mcp": { "type": "string" }, "endpoints": { "type": "array", "items": { "type": "object", "properties": { "method": { "type": "string" }, "path": { "type": "string" }, "summary": { "type": "string" } }, "required": [ "method", "path", "summary" ], "additionalProperties": false } } }, "required": [ "name", "version", "description", "auth", "docs", "openapi", "mcp", "endpoints" ], "additionalProperties": false }, "OpenApiDocument": { "type": "object", "propertyNames": { "type": "string" }, "additionalProperties": {}, "description": "An OpenAPI 3.1 document." }, "Problem": { "type": "object", "properties": { "type": { "type": "string", "description": "URI identifying the problem type." }, "title": { "type": "string" }, "status": { "type": "number" }, "detail": { "type": "string" }, "code": { "type": "string", "description": "Stable machine-readable error code." }, "hint": { "description": "How to fix the request.", "type": "string" }, "instance": { "description": "Request path.", "type": "string" }, "docs": { "type": "string", "description": "Documentation link." }, "errors": { "description": "Per-field validation errors.", "type": "array", "items": { "type": "object", "properties": { "field": { "type": "string" }, "message": { "type": "string" } }, "required": [ "field", "message" ], "additionalProperties": false } } }, "required": [ "type", "title", "status", "detail", "code", "docs" ], "additionalProperties": false, "description": "RFC 9457 problem details (application/problem+json)." }, "CompareRequest": { "type": "object", "properties": { "ids": { "minItems": 1, "maxItems": 20, "type": "array", "items": { "type": "string", "minLength": 1 }, "description": "Actuator ids to fetch (1 to 20)." } }, "required": [ "ids" ], "additionalProperties": false } }, "responses": { "Problem400": { "description": "Problem details; `code` is one of: invalid_parameter, invalid_cursor, invalid_json.", "headers": {}, "content": { "application/problem+json": { "schema": { "$ref": "#/components/schemas/Problem" } } } }, "Problem404": { "description": "Problem details; `code` is one of: not_found, unknown_endpoint.", "headers": {}, "content": { "application/problem+json": { "schema": { "$ref": "#/components/schemas/Problem" } } } }, "Problem405": { "description": "Problem details; `code` is one of: method_not_allowed.", "headers": { "Allow": { "$ref": "#/components/headers/Allow" } }, "content": { "application/problem+json": { "schema": { "$ref": "#/components/schemas/Problem" } } } }, "Problem415": { "description": "Problem details; `code` is one of: unsupported_media_type.", "headers": {}, "content": { "application/problem+json": { "schema": { "$ref": "#/components/schemas/Problem" } } } }, "Problem422": { "description": "Problem details; `code` is one of: validation_failed.", "headers": {}, "content": { "application/problem+json": { "schema": { "$ref": "#/components/schemas/Problem" } } } }, "Problem429": { "description": "Problem details; `code` is one of: rate_limited.", "headers": { "Retry-After": { "$ref": "#/components/headers/Retry-After" }, "RateLimit": { "$ref": "#/components/headers/RateLimit" }, "RateLimit-Policy": { "$ref": "#/components/headers/RateLimit-Policy" }, "X-RateLimit-Limit": { "$ref": "#/components/headers/X-RateLimit-Limit" }, "X-RateLimit-Remaining": { "$ref": "#/components/headers/X-RateLimit-Remaining" }, "X-RateLimit-Reset": { "$ref": "#/components/headers/X-RateLimit-Reset" } }, "content": { "application/problem+json": { "schema": { "$ref": "#/components/schemas/Problem" } } } }, "Problem500": { "description": "Problem details; `code` is one of: internal_error.", "headers": {}, "content": { "application/problem+json": { "schema": { "$ref": "#/components/schemas/Problem" } } } } }, "headers": { "API-Version": { "description": "Major API version that served the request.", "schema": { "type": "string" } }, "RateLimit": { "description": "Remaining quota and reset, e.g. `\"default\";r=119;t=42`.", "schema": { "type": "string" } }, "RateLimit-Policy": { "description": "Quota policy: `\"default\";q=120;w=60`.", "schema": { "type": "string" } }, "X-RateLimit-Limit": { "description": "Requests allowed per window.", "schema": { "type": "integer" } }, "X-RateLimit-Remaining": { "description": "Requests left in the current window.", "schema": { "type": "integer" } }, "X-RateLimit-Reset": { "description": "Seconds until the window resets.", "schema": { "type": "integer" } }, "Retry-After": { "description": "Seconds to wait before retrying.", "schema": { "type": "integer" } }, "Allow": { "description": "Methods supported by this path.", "schema": { "type": "string" } } }, "parameters": { "IdempotencyKey": { "name": "Idempotency-Key", "in": "header", "required": false, "description": "Accepted for client compatibility; unnecessary because every operation is read-only and safe to retry.", "schema": { "type": "string", "maxLength": 255 } } }, "securitySchemes": {} }, "x-authentication": { "required": false, "description": "No authentication. All operations are public and read-only." }, "x-rate-limit": { "limit": 120, "window_seconds": 60, "scope": "client IP (first X-Forwarded-For hop)", "headers": [ "RateLimit", "RateLimit-Policy", "X-RateLimit-Limit", "X-RateLimit-Remaining", "X-RateLimit-Reset", "Retry-After" ] }, "x-mcp-server": "https://getactuators.com/mcp" }