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Issue: Inverse Dynamics with Recursive Newton-Euler Not Working for URDF Imports #486

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Issue: Inverse Dynamics with Recursive Newton-Euler Not Working for URDF Imports #486

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6 changes: 4 additions & 2 deletions roboticstoolbox/robot/Robot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1790,7 +1790,8 @@ def rne(
v[j] = vJ
a[j] = Xup[j] * a_grav + SpatialAcceleration(s[j] * qddk[j])
else:
jp = self.links[j].parent.jindex # type: ignore
parent_name = self.links[j].parent.name
jp = next(i for i, link in enumerate(self.links) if link.name == parent_name)
v[j] = Xup[j] * v[jp] + vJ
a[j] = (
Xup[j] * a[jp] + SpatialAcceleration(s[j] * qddk[j]) + v[j] @ vJ
Expand All @@ -1804,7 +1805,8 @@ def rne(
Q[k, j] = sum(f[j].A * s[j])

if self.links[j].parent is not None:
jp = self.links[j].parent.jindex # type: ignore
parent_name = self.links[j].parent.name
jp = next(i for i, link in enumerate(self.links) if link.name == parent_name)
f[jp] = f[jp] + Xup[j] * f[j]

if l == 1:
Expand Down