Import upstream snapshot 57d13ead53206a6bf0db3d66f86506ae8c2ce01a

Upstream: https://github.com/pollen-robotics/bam Upstream-Commit: 57d13ead53206a6bf0db3d66f86506ae8c2ce01a Upstream-Branch: mjlab_frictionloss
2026-08-28 15:42:08 +08:00
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+Usage
+=====
+
+This section explains how to use identified models in simulation stacks.
+
+.. grid:: 1 2 2 2
+    :gutter: 3
+    :class-container: bam-getting-started
+
+    .. grid-item-card:: 📇 Identified actuators
+        :link: actuators
+        :link-type: doc
+        :class-card: bam-card
+
+        Browse the bundled library of pre-identified servo-actuators and the
+        friction parameters shipped for each of them.
+
+        +++
+        :doc:`Browse actuators → <actuators>`
+
+    .. grid-item-card:: 🖥️ MuJoCo (CPU)
+        :link: mujoco_cpu
+        :link-type: doc
+        :class-card: bam-card
+
+        Plug BAM friction models into a standard MuJoCo simulation running on
+        CPU with :class:`bam.mujoco.MujocoController`.
+
+        +++
+        :doc:`MuJoCo CPU guide → <mujoco_cpu>`
+
+    .. grid-item-card:: ⚡ mjlab (MuJoCo GPU)
+        :link: mjlab_gpu
+        :link-type: doc
+        :class-card: bam-card
+
+        Integrate BAM into an mjlab pipeline running on GPU with MuJoCo Warp
+        via :class:`bam.mjlab.BamActuatorCfg`.
+
+        +++
+        :doc:`mjlab GPU guide → <mjlab_gpu>`
+
+    .. grid-item-card:: 🤖 Examples
+        :link: examples
+        :link-type: doc
+        :class-card: bam-card
+
+        See BAM wired into real open-source robotics projects for end-to-end
+        inspiration.
+
+        +++
+        :doc:`Browse examples → <examples>`
+
+.. toctree::
+   :hidden:
+
+   actuators
+   mujoco_cpu
+   mjlab_gpu
+   examples