sweepRwBookkeepingMass

Bookkeeping-mass sweep for scenarioCompareRwPanels.

MuJoCo requires every wheel body to carry a positive mass, while the BSM balanced-wheel effector is ideally massless; the scenario uses a 1e-6 kg bookkeeping mass. This sweep reruns the comparison with that mass reduced to confirm it is what sets the ~1e-10 rad cross-engine agreement floor.

Results are written to results/sweepRwBookkeepingMass.json.

sweepRwBookkeepingMass.attitudeFloor(rwMass, dt=0.02, tf=120.0, recordDt=0.5)[source]: Max cross-engine hub-attitude principal angle with the given wheel mass [kg].

sweepRwBookkeepingMass.run(rwMasses=(1e-06, 1e-08, 1e-10), dt=0.02, tf=120.0, recordDt=0.5, saveJson=True, resultsDir=None)[source]: Run the bookkeeping-mass sweep and return the generated metrics.