Add MuJoCo/BSK_Sim thruster arm control example

.github/workflows/requirements.txt

@@ -1,6 +1,7 @@
 pandas
 matplotlib
 numpy
+scipy
 colorama
 tqdm
 pillow

docs/source/Support/bskReleaseNotesSnippets/1311-scenarioThrArmControl.rst

@@ -0,0 +1 @@
+- Added :ref:`scenarioThrArmControl`, a MuJoCo example scenario for spacecraft control using thruster arms.

examples/_default.rst

@@ -219,6 +219,16 @@ It's recommended to study the first 6 scenarios in order:
   Pointing with Reaction Wheels in MuJoCo <mujoco/scenarioAttitudeFeedbackRWMuJoCo>
   Translation-only formation flying under differential drag <mujoco/scenarioFormationFlyingWithDrag>
   Satellite Drag with Stochastic (Random) Density using MuJoCo <mujoco/scenarioStochasticDrag>
+  Spacecraft Control with Thruster Arms using MuJoCo <mujoco/scenarioThrArmControl>
+
+Support Files
+^^^^^^^^^^^^^
+
+.. toctree::
+   :maxdepth: 1
+
+   Master File <mujoco/BSK_mujocoMasters>
+   Models Folder <mujoco/mujocoModels/index>
 
 Constrained Spacecraft Dynamics Simulations
 -------------------------------------------

examples/mujoco/BSK_mujocoMasters.py

@@ -0,0 +1,94 @@
+#
+#  ISC License
+#
+#  Copyright (c) 2026, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
+#
+#  Permission to use, copy, modify, and/or distribute this software for any
+#  purpose with or without fee is hereby granted, provided that the above
+#  copyright notice and this permission notice appear in all copies.
+#
+#  THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+#  WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+#  MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+#  ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+#  WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+#  ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+#  OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+#
+
+# Get current file path
+import inspect
+import os
+import sys
+
+# Import architectural modules
+from Basilisk.utilities import SimulationBaseClass
+
+filename = inspect.getframeinfo(inspect.currentframe()).filename
+path = os.path.dirname(os.path.abspath(filename))
+
+# Import MuJoCo Dynamics and FSW models
+sys.path.append(path + '/mujocoModels')
+
+
+class BSKSim(SimulationBaseClass.SimBaseClass):
+    """Main bskSim simulation class"""
+
+    def __init__(self, fswRate=0.01, dynRate=0.01):
+        self.dynRate = dynRate
+        self.fswRate = fswRate
+        # Create a sim module as an empty container
+        SimulationBaseClass.SimBaseClass.__init__(self)
+
+        self.DynModels = []
+        self.FSWModels = []
+        self.DynamicsProcessName = None
+        self.FSWProcessName = None
+        self.dynProc = None
+        self.fswProc = None
+
+        self.dynamics_added = False
+        self.fsw_added = False
+
+    def get_DynModel(self):
+        assert (self.dynamics_added is True), "It is mandatory to use a dynamics model as an argument"
+        return self.DynModels
+
+    def set_DynModel(self, dynModel):
+        self.dynamics_added = True
+        self.DynamicsProcessName = 'DynamicsProcess'  # Create simulation process name
+        self.dynProc = self.CreateNewProcess(self.DynamicsProcessName)  # Create process
+        self.DynModels = dynModel.BSKMujocoDynamicsModels(self, self.dynRate)  # Create Dynamics class
+
+    def get_FswModel(self):
+        assert (self.fsw_added is True), "A flight software model has not been added yet"
+        return self.FSWModels
+
+    def set_FswModel(self, fswModel):
+        self.fsw_added = True
+        self.FSWProcessName = "FSWProcess"  # Create simulation process name
+        self.fswProc = self.CreateNewProcess(self.FSWProcessName)  # Create process
+        self.FSWModels = fswModel.BSKMujocoFSWModels(self, self.fswRate)  # Create FSW class
+
+
+class BSKScenario(object):
+    def __init__(self):
+        self.name = "scenario"
+
+    def configure_initial_conditions(self):
+        """
+            Developer must override this method in their BSK_Scenario derived subclass.
+        """
+        pass
+
+    def log_outputs(self):
+        """
+            Developer must override this method in their BSK_Scenario derived subclass.
+        """
+        pass
+
+    def pull_outputs(self):
+        """
+            Developer must override this method in their BSK_Scenario derived subclass.
+        """
+        pass

examples/mujoco/mujocoModels/BSK_MujocoDynamics.py

@@ -0,0 +1,87 @@
+#
+#  ISC License
+#
+#  Copyright (c) 2026, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
+#
+#  Permission to use, copy, modify, and/or distribute this software for any
+#  purpose with or without fee is hereby granted, provided that the above
+#  copyright notice and this permission notice appear in all copies.
+#
+#  THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+#  WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+#  MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+#  ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+#  WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+#  ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+#  OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+
+import os
+from Basilisk.simulation import(
+    mujoco,
+    MJSystemCoM,
+    MJSystemMassMatrix,
+    MJJointReactionForces,
+    svIntegrators,
+)
+from Basilisk.utilities import macros as mc
+
+XML_PATH = os.path.join(os.path.dirname(__file__), "..", "sat_w_thruster_arms.xml")
+
+
+class BSKMujocoDynamicsModels():
+    """
+    bskSim simulation class that sets up the MuJoCo spacecraft dynamics models.
+    """
+    def __init__(self, SimBase, dynRate):
+        # Define process name, task name and task time-step
+        self.processName = SimBase.DynamicsProcessName
+        self.taskName = "DynamicsTask"
+        self.processTasksTimeStep = mc.sec2nano(dynRate)
+
+        # Create task
+        SimBase.dynProc.addTask(SimBase.CreateNewTask(self.taskName, self.processTasksTimeStep))
+
+        # Instantiate Dyn modules as objects
+        self.scene = mujoco.MJScene.fromFile(XML_PATH)
+        self.systemCoM = MJSystemCoM.MJSystemCoM()
+        self.systemMassMatrix = MJSystemMassMatrix.MJSystemMassMatrix()
+        self.jointReactionForces = MJJointReactionForces.MJJointReactionForces()
+        self.integrator = svIntegrators.svIntegratorRKF45(self.scene)
+
+        # Initialize all modules
+        self.InitAllDynObjects()
+
+        # Assign all initialized modules to tasks
+        SimBase.AddModelToTask(self.taskName, self.scene, 200)
+        SimBase.AddModelToTask(self.taskName, self.systemCoM, 199)
+        SimBase.AddModelToTask(self.taskName, self.systemMassMatrix, 198)
+        SimBase.AddModelToTask(self.taskName, self.jointReactionForces, 197)
+
+
+    # ------------------------------------------------------------------------------------------- #
+    # These are module-initialization methods
+
+    def setScene(self):
+        self.scene.extraEoMCall = True
+        self.scene.ModelTag = "mujocoScene"
+        self.scene.setIntegrator(self.integrator)
+
+    def setSystemCoM(self):
+        self.systemCoM.ModelTag = "systemCoM"
+        self.systemCoM.scene = self.scene
+
+    def setSystemMassMatrix(self):
+        self.systemMassMatrix.ModelTag = "systemMassMatrix"
+        self.systemMassMatrix.scene = self.scene
+
+    def setJointReactionForces(self):
+        self.jointReactionForces.ModelTag = "jointReactionForces"
+        self.jointReactionForces.scene = self.scene
+
+
+    # Global call to initialize every module
+    def InitAllDynObjects(self):
+        self.setScene()
+        self.setSystemCoM()
+        self.setSystemMassMatrix()
+        self.setJointReactionForces()