[plancherb1]

Summary

• The external-force CUDA modules run their pinocchio leg on every robot. gen3 was left out because the modules passed tolerance keys RBDReference does not have (forward_dynamics, f_ext_grad, f_ext_grad_so; the parameter-gradient module passed fd), which fell back to its 1e-7 default; the mimic robots were left out because the pinocchio oracle placed per-body wrenches through a mimic-free joint list. RBDReference PR Fix Python Bindings + Descriptions #15 (pin c5c23f8) closes the table, adds the forward_dynamics and inverse_dynamics_gradient buckets, maps a wrench on every body, and checks external forces on every robot against pinocchio. The GRiD modules now use the table's names.
• test_osc_inertia checks every sample through the normwise backward error of the task-space inertia, the check the frame-Jacobian suite uses, instead of passing over ill-conditioned samples.
• g1 floating joins the integrator gradient's float32 norm-bound class with a bound from the suite's noise model and the Jetson AGX Orin's measured class noise: at the most energetic RK4 sample the sm_87 gradient kernel rounds three times wider than the RTX 5090 at one stage state, and nothing else differs between the two GPUs. Guide entry 7.z55; the measurement scripts and logs are in the plan ledger.
• compute-sanitizer racecheck is unsupported on the Orin's integrated GPU ("GPU debugging features are disabled"); the racecheck cell skips on that exact message and the sm_87 receipt row carries its own expected-skips baseline listing that one cell. The primary baseline stays empty.
• Receipt refresh at the new pin: all 44 shards re-run fresh (the pin move stales every oracle-dependent shard), 1796 tests passed, verified under both the everyday and the release policy.

Verification

• CPU lane 1253 passed. RBDReference fast suite 859 passed, slow external-force cells 72 passed.
• RTX 5090: external-force three-way cells for gen3 (both bases), fr3 fixed and h1_2 floating; gen3 external-force gradients; racecheck; osc_inertia; g1 floating integrator, all pass. Full refresh receipt committed (86017f9).
• Jetson AGX Orin at main: the g1 floating RK4 cell is the only deviation and sits at 0.58 of the new bound; every other sample, integrator and step matches the 5090.

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