Usage

This section explains how to use identified models in simulation stacks.

• Using BAM in MuJoCo (CPU)
  • Installation
  • Overview
  • Loading a model
  • XML setup
  • Instantiating the controller
  • Simulation loop
  • Voltage drop (optional)
  • Current clipping (optional)
  • Multi-actuator config file
  • API reference
• Using BAM in MuJoCo Warp via mjlab (GPU)
  • Installation
  • Overview
  • Instantiating the config
  • Voltage and P-gain overrides
  • Domain randomization
  • Current clipping
  • Command delay
  • Passing the config to an Entity
  • API reference
• Examples