RNEA Inverse Dynamics with DH Convention Traps¶
- Task ID:
robotics.rnea_inverse_dynamics_dh - Domain:
robotics - Subdomain:
inverse_dynamics - Status:
test - Tags:
inverse_dynamics,newton_euler,dh_parameters,manipulator,rnea,spatial_vector
Public Summary¶
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Example B1 Prompt Excerpt¶
# B1
## Goal
`data/task_info.json` describes a serial robot manipulator via its Denavit-Hartenberg kinematic parameters (using the **modified** DH convention) and a gravity vector expressed in the base frame (pointing in the negative world-Z direction). `data/trajectory.npz` contains multiple samples of joint configuration q, velocity qd and acceleration qdd.
Implement the recursive Newton-Euler algorithm (RNEA) for inverse dynamics **exactly as specified below**, then verify your results.
Write `analysis.py` in the workspace root. The script must read all files under `data/`, implement the steps below, perform the verification, and save:
- `tau_history.npy` — shape `[{{trajectory_samples}}, {{n_dof}}]`, `float64`
- `verification_data_1.npy` — shape `[1]`, `float64` — maximum absolute acceleration error from the forward-dynamics check (see §5)
## Data convention (problem specification)
Notes¶
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