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Motus.NET 0.10.0

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@github-actions github-actions released this 26 Jul 07:59
· 52 commits to master since this release
v0.10.0
87c2e36

Added

  • Legged kinematics (Family=legged): LegIk3R analytic 3-DOF leg IK (coxa yaw + femur/tibia pitch), LeggedLayout N×3R insectoid layouts (HexMithi, QuadSmoke), LeggedGait duty-cycle foot-target gait preview (flat-ground, planted feet, tripod/biped swing groups)
  • Units.LeggedFamily / Units.IsLegged(RobotPreset) — legged family marker; joints are radians (not Stewart meters)
  • Rigorous legged kinematics tests: FK↔IK round-trips, Z=0 plant targets, hex/quad gait builds, elbow-branch regression (q1=γ+α), rejection of invalid layouts/paths/axis mismatches
Assets 14
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