Examples

BAM is used in real open-source robotics projects. If you are looking for inspiration on how to wire it into a full pipeline, these are good places to start:

• mjlab (GPU) — MjLab Microban is an open-source project, in which the fully open-source 30 cm humanoid Microban learns to walk. It shows how to plug bam.mjlab.BamActuatorCfg into a vectorized MuJoCo Warp training pipeline.

• MuJoCo (CPU) — FRASA is a humanoid stand-up env that uses bam.mujoco.MujocoController in a standard MuJoCo simulation to train the SigmaBan humanoid to stand up.