Fix incorrect thruster mapping for jointThrAllocation

[Will-Schwend]

• Review: By commit
• Merge strategy: Merge (no squash)

Description

This PR updates jointThrAllocation so the spacecraft center of mass (CoM) used in the thruster wrench map is computed from articulated-arm geometry and body mass properties instead of relying on a separate static CoM state input.

The main changes are:

• updated THRArmConfigMsgPayload to include the kinematic and mass-property data needed to represent articulated spacecraft bodies
• removed CoMStatesInMsg from jointThrAllocation, since it is no longer used
• updated jointThrAllocation to compute r_ComB_B dynamically during the optimization based on the current joint-angle solution

Verification

Changes were validated with updated unit-test coverage and an integrated MuJoCo scenario.

Validation included:

• updated test_jointThrAllocation.py:
  • added tests for jointPoseFromTheta and computeComFromTheta across multiple spacecraft configurations
• updated scenarioThrArmControl.py / MuJoCo FSW setup:
  • passed the new required arm/body mass-property message data
  • removed the unused CoM state message dependency
  • updated non-pytest default simulation parameters to improve direct-run performance
  • added an integration tolerance to improve runtime
  • updated pytest scenario parameters to improve runtime

Documentation

This PR updates documentation for the revised allocation behavior:

• removed the unused input message from src/fswAlgorithms/effectorInterfaces/jointThrAllocation/jointThrAllocation.rst
• updated docs/source/Support/bskKnownIssues.rst
• added the release-note snippet docs/source/Support/bskReleaseNotesSnippets/1416-JointThrAllocation-Fix.rst

Future work

N/A

[Will-Schwend]

@codex review

[chatgpt-codex-connector]

💡 Codex Review

Here are some automated review suggestions for this pull request.

Reviewed commit: cdc1460443

ℹ️ About Codex in GitHub

Your team has set up Codex to review pull requests in this repo. Reviews are triggered when you

• Open a pull request for review
• Mark a draft as ready
• Comment "@codex review".

If Codex has suggestions, it will comment; otherwise it will react with 👍.

Codex can also answer questions or update the PR. Try commenting "@codex address that feedback".