Mujoco System Mass Matrix Module #1108
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@Will-Schwend , feel free to push this PR if @juan-g-bonilla has no issues with your implementation to interface with his code. |
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Description
This PR adds the ability to extract the system mass matrix and number of degrees of freedom from a Mujoco scene with a single spacecraft. This enables the use of these values throughout other Basilisk modules.
Verification
A new unit test
test_MJSystemMassMatrix.pywas created which verifies the degrees of freedom and mass matrix extracted in the moduleDocumentation
New documentation was made for the
MJSystemMassMatrixmodule. Reslease notes were updated to include the new module.Future work
N/A