ferroscope-motion 0.1.2

The SO-101 under real dynamics.

Everything else in this repository either reads a recording some simulator made or plays out a described motion in closed form. This produces one from physics: ferromotion's recursive Newton-Euler dynamics drive the SO-101's calibrated inertials, a PD controller pulls it to a reach pose, and every step is recorded with a determinism receipt — the run is produced and certified by the same stack that renders it.

Two things become real that were models before:

• the actuation rail is computed, per joint, as mechanical shaft power |τ · ω| from the torques the controller actually applied — stated as mechanical, because electrical power would need a motor model this file does not have;
• the physics is checkable: --passive drops the arm under gravity alone and reports the total-energy drift of the integrator, which is the number that says whether the dynamics deserve the receipt they carry.

ferroscope-motion out.mcap                 PD reach, recorded and sealed
ferroscope-motion out.mcap --passive       gravity only; exit 1 if energy drifts > 5 %