BAM (Better Actuator Models)
- Software
- Humanoids and robot learning
- Tool
BAM provides extended friction models and identified parameters for servo actuators, so that simulations of robots in MuJoCo are more faithful to real hardware.
Made by Rhoban.
Source on GitHub: github.com/Rhoban/bam (opens in a new tab). Facts read at commit e9a619d (opens in a new tab).
Licenses
- Code
- Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit e9a619d (opens in a new tab), on 22 Oct 2026.
- Commercial use
- Yes
What it does
- Offers an identification pipeline that fits friction models from recorded trajectories.
- Provides extended friction models that capture Stribeck, load-dependence and quadratic friction effects.
- Shares a library of identified models for several Dynamixel, eRob and Feetech servos.
- Gives a simple API to use these models in MuJoCo CPU and MuJoCo Warp.
- Aims to improve the transfer of policies learned in simulation to real robots.
Written by Robotheca from the project's README (opens in a new tab) at commit e9a619d.
Getting started
- Difficulty
- Advanced
- How to start
- The project's website (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 13 Sept 2026 on main
- Latest release
- v1.0.2 (16 Jul 2026)
Checked on GitHub on 22 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.