sweepVariableMassPendulumInertia

Sweep the MuJoCo slosh-bob inertia and integration step in deep space.

The BSM spherical pendulum treats its bob as a point mass. MuJoCo requires a positive centroidal inertia for the articulated bob body. This control varies that initial inertia while retaining the same bob mass, depletion law, damping, initial conditions, and burn. Repeating the sweep at two RK4 steps separates the artificial-inertia contribution from the finite-step disagreement between the two pendulum realizations.

sweepVariableMassPendulumInertia.run(showPlots=False, saveJson=False, bobInertias=(1e-08, 1e-05, 0.0001, 0.001), timeSteps=(0.05, 0.025, 0.0125), simDuration=900.0, resultsDir=None)[source]: Run the inertia and step-size control and return its one-axis figure.