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Motus.NET 0.11.0

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@github-actions github-actions released this 26 Jul 14:04
· 51 commits to master since this release
v0.11.0
bcbbcd8

Added

  • Modern Robotics PoE stack (Lynch & Park): ScrewMath (SO(3)/SE(3) Exp/Log/Adjoint with π and near-identity guards), ProductOfExponentials (URDF SerialJointChain → space/body screws + home M, FKinSpace/FKinBody), PoEJacobian (JacobianSpace/JacobianBody)
  • NumericalIkOptions / NumericalIkResult / NumericalIkFailureReasons — injectable NR tolerances and named Status (NoConvergence, SingularJacobian, InvalidInput)
  • Serial-URDF numerical IK path uses analytic body Jacobian + MatrixLog6 body-twist error when PoE screws are available (DH-only stays finite-diff)

Changed

  • KinematicsResolver.CreateInverseKinematics wires non-UR serial chains through PoE-backed NumericalInverseKinematics
  • Legged gait/IK hardening: method DOI refs (LeggedMethodRefs), static-stability helpers, expanded round-trip / plant tests
Assets 14
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