Import upstream snapshot 57d13ead53206a6bf0db3d66f86506ae8c2ce01a

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

docs/conf.py

@@ -0,0 +1,64 @@
+import os
+import sys
+
+project = "BAM"
+author = "Marc Duclusaud & Grégoire Passault"
+copyright = "2026, Marc Duclusaud & Grégoire Passault"
+
+extensions = [
+    "autoapi.extension",
+    "sphinx.ext.napoleon",
+    "sphinx.ext.mathjax",
+    "sphinx.ext.todo",
+    "sphinx_copybutton",
+    "sphinxcontrib.video",
+    "sphinx_design",
+]
+
+templates_path = ["_templates"]
+exclude_patterns = ["_build", ".venv", "Thumbs.db", ".DS_Store"]
+
+sys.path.insert(0, os.path.abspath(".."))
+
+# sphinx-autoapi — scans bam/ via AST, no runtime imports needed
+autoapi_type = "python"
+autoapi_dirs = ["../bam"]
+autoapi_root = "autoapi"
+autoapi_ignore = ["*/drive_backdrive.py", "*/plot.py", "*/jitter.py", "*/mae.py", "*/message.py", "*/process.py"]
+autoapi_add_toctree_entry = False
+autoapi_options = [
+    "members",
+    "undoc-members",
+    "show-inheritance",
+    "show-module-summary",
+    "imported-members",
+]
+autoapi_python_class_content = "both"
+autoapi_member_order = "bysource"
+
+napoleon_google_docstring = True
+napoleon_numpy_docstring = False
+todo_include_todos = True
+
+html_theme = "pydata_sphinx_theme"
+pygments_style = "friendly"
+pygments_dark_style = "monokai"
+html_static_path = ["_static"]
+html_css_files = ["bam.css"]
+html_js_files = ["motor_examples.js"]
+html_logo = "_static/BAM_logo.png"
+html_favicon = "_static/favicon.ico"
+
+html_theme_options = {
+    "show_nav_level": 2,
+    "show_toc_level": 2,
+    "navigation_with_keys": True,
+    "icon_links": [
+        {
+            "name": "GitHub",
+            "url": "https://github.com/Rhoban/bam",
+            "icon": "fa-brands fa-square-github",
+            "type": "fontawesome",
+        }
+    ],
+}