Dynamics: summary table of the RNE implementations
Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Update Dynamics: friction and gear ratio, payload and payload_capacity
Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Fix drift found in wiki review: factual errors, remove ROS, migrate desiderata to Issues
Factual errors fixed:
- Dynamics.md: Link.friction(q) -> Link.friction(qd), friction is a function
of joint velocity not position
- Grippers.md: rewritten from a 2020/2021 "discussion document, not
implemented" framing to describe the actual shipped Gripper class and
robot.grippers list, with real examples from Frankie/Fetch
- Kinematics.md: the "robots with multiple end effectors" section called
this "just speculation so far" with a made-up API; fkine/ikine_* already
ship end=/start= kwargs for exactly this, documented instead
- Coding-conventions.md: import typos (`script` -> `scipy`, `ppt` -> `plt`,
a stray backtick) that didn't match the actual codebase convention
ROS backend, per explicit decision -- not done, unclear if/when it will be,
so drop all mention rather than document vapourware:
- Delete ROS.md entirely
- Backends.md: drop the ## ROS section
- Contributing.md, Background.md: drop ROS mentions
Desiderata migrated to GitHub Issues (#673-#677), same rationale as the
tech-debt.md -> Issues migration: a wiki page can't be closed when the work
lands, which is exactly how Grippers.md and the ROS/Contributing mismatch
went stale. Contributing.md's "What needs doing" and Backends.md's TODO
section now point at the issues instead of listing items inline.
Also: Background.md gets a currency footnote (Python version, LGTM
shutdown) rather than presenting 2020 design goals as current status;
Scene-graphs.md gets a "superseded by Swift/SpatialGeometry" note and
moves from "Development (current)" to "OLD" in the sidebar, since that's
what it actually is; Home.md's one-line landing page gets a real intro
with navigation pointers.
Created Dynamics (markdown)