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Basilisk:

  • Install
  • Building from Source
  • Learning Basilisk
    • Fundamentals of Basilisk Simulations
    • Integrated Example Scripts
    • Basics of Writing Basilisk Modules
      • Module Design Considerations
      • Creating New Message Definitions
      • Making C Modules
      • Making C++ Modules
      • Making Python Modules
      • Module RST Documentation
      • Module Unit Test File
      • Automation Script to Create a New Basilisk Module
      • Common Basilisk Support Files
      • Advanced Topics
        • Creating DynamicObject Basilisk Modules
        • Multi-body Dynamics with MuJoCo
        • Enabling Branching of Basilisk Effectors
  • Support
  • Documentation
  • Support Data Files
  • External Sites

BSK_SDK:

  • About Plugins
  • Installing Plugins
  • Writing a Basilisk Plugin

BSK_RL:

  • Documentation

Vizard:

  • About Vizard
  • Download
  • Release Notes
  • User Guide
  • Advanced Features
  • Video Gallery
Basilisk
  • Learning Basilisk
  • Basics of Writing Basilisk Modules
  • Advanced Topics
  • View page source

Advanced Topics

This section covers advanced BSK module writing topics.

  • Creating DynamicObject Basilisk Modules
  • Multi-body Dynamics with MuJoCo
    • Installation
    • The Multi-body System
    • Free, Constrained, and Prescribed Joints
  • Enabling Branching of Basilisk Effectors
    • State Effector Augmentation
    • Dynamic Effector Augmentation
    • Additional Resources
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