DynGuard

DynGuard is a desktop + web app for robotics teams to validate robot dynamics models against real logs and quickly flag instability risks. You import URDF/SDF plus controller parameters, then upload ROS bag/MCAP logs (IMU, joint states, motor currents, contact forces). The app runs automated checks: energy drift, passivity violations, unmodeled friction/backlash signatures, contact inconsistency, and time-delay sensitivity. It generates a “risk report” with the most likely root causes (e.g., wrong inertia tensor, joint damping too low, actuator saturation, timestamp skew) and suggests what to measure next. It’s not a magic autopilot: it won’t replace a controls engineer, but it will shorten the painful loop of ‘why does sim look stable but the robot oscillates?’ Built for iterative debugging, it keeps a history of runs so teams can see whether changes actually improved stability margins.