Import upstream snapshot 57d13ead53206a6bf0db3d66f86506ae8c2ce01a

Upstream: https://github.com/pollen-robotics/bam
Upstream-Commit: 57d13ead53206a6bf0db3d66f86506ae8c2ce01a
Upstream-Branch: mjlab_frictionloss

docs/Makefile

@@ -0,0 +1,28 @@
+# Minimal makefile for Sphinx documentation
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+VENV          ?= .venv
+SPHINXBUILD   ?= $(if $(wildcard $(VENV)/bin/sphinx-build),$(VENV)/bin/sphinx-build,sphinx-build)
+SOURCEDIR     = .
+BUILDDIR      = _build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile clean api
+
+clean:
+	rm -rf _build
+
+# Rebuild API reference from scratch (forces autoapi to re-scan bam/)
+api:
+	rm -rf autoapi/
+	@$(SPHINXBUILD) -M html "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)