Import upstream snapshot 57d13ead53206a6bf0db3d66f86506ae8c2ce01a

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

pyproject.toml

@@ -0,0 +1,77 @@
+[build-system]
+requires = ["setuptools>=77.0"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "better-actuator-models"
+version = "1.0.1"
+description = "BAM: Better Actuator Models is a Python library dedicated to the identification and simulation of advanced actuator models."
+readme = "README.md"
+requires-python = ">=3.12,<3.13"
+license = "Apache-2.0"
+authors = [
+    { name = "Marc Duclusaud" },
+    { name = "Grégoire Passault" },
+]
+keywords = ["robot", "robotics", "actuator", "simulation", "friction"]
+classifiers = [
+    "Programming Language :: Python :: 3",
+    "Operating System :: OS Independent",
+]
+dependencies = [
+    "numpy",
+    "colorama",
+]
+
+[project.optional-dependencies]
+# Use identified models in a MuJoCo (CPU) simulation.
+mujoco = [
+    "mujoco",
+]
+# Use identified models in MuJoCo Warp via mjlab (GPU).
+mjlab = [
+    "mjlab>=1.3,<1.4",
+    # mjlab 1.3 targets the MuJoCo Warp 3.7 era: it uses `ls_parallel` (removed in
+    # mujoco-warp 3.9.1) and `wp.context` (removed in warp-lang 1.15). Pin the
+    # simulation stack to that compatible combo, otherwise Simulation() raises
+    # "ls_parallel was removed" / "module 'warp' has no attribute 'context'".
+    "mujoco-warp>=3.7,<3.8",
+    "mujoco>=3.7,<3.8",
+    "warp-lang>=1.12,<1.13",
+    "scipy"
+]
+# Identify your own motors: hardware drivers, optimization, logging, plotting.
+identification = [
+    "zmq",
+    "protobuf>=3.20,<4.0",
+    "dynamixel_sdk",
+    "rustypot>=1.5.0",
+    "optuna",
+    "cmaes",
+    "wandb",
+    "matplotlib",
+    "PyQt5"
+]
+# Everything at once.
+all = [
+    "better-actuator-models[mujoco,mjlab,identification]",
+]
+
+[project.urls]
+Homepage = "https://github.com/Rhoban/bam"
+Repository = "https://github.com/Rhoban/bam"
+
+[tool.setuptools.packages.find]
+include = ["bam*"]
+
+[tool.setuptools.package-data]
+bam = ["params/**/*.json"]
+
+[tool.ruff]
+line-length = 88
+target-version = "py312"
+extend-exclude = ["docs/_build"]
+
+[tool.ruff.format]
+quote-style = "double"
+indent-style = "space"