feat(dynamics): add armature support, fix rne() calculation bugs, solid testing#560

Merged

petercorke merged 11 commits into

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fix/dynamics-overhaul

Jul 23, 2026

Commits on Jul 21, 2026

test(fknm): guarantee real C-vs-Python comparison, add CI build assertion

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Commits on Jul 23, 2026

fix(dynamics): rotate gravity by robot base in rne(), move handling into ne.c

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fix(dynamics): fix three bugs in rne_python()'s modified-DH branch

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fix(dynamics): guard Robot.rne() against standard-DH DHRobot instances

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fix(dynamics): Robot.rne() dropped the rotational inertia tensor

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feat(dynamics): add armature inertia and friction to Robot.rne()

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test(dynamics): add absolute ground-truth check against Spong's closed-form dynamics

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fix(dynamics): auto-detect symbolic models, fix rne_python()'s per-call dtype selection

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perf(dynamics): add symbolic-aware C dispatch check, safety net, batch trajectories into one C call

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docs(dynamics): housekeeping and write up the full investigation in rne.md

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Merge branch 'main' into fix/dynamics-overhaul
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