Motus.NET 0.12.0

Added

• UrdfRobotLoader.LoadTreeXacro for supported xacro subset expansion into full KinematicTree, plus a tiny UR-description-style xacro fixture with tip/tool link coverage
• RetimerAlgorithm.Totg managed TOPP-RA-style retimer with TotgMethodRefs DOI provenance and JSON export retime provenance
• PathConstraints, PositionConstraint, OrientationConstraint, IConstraintChecker, and planner planning.constraint_violation diagnostics
• Managed SamplingPlannerId.PrmStar and ChompLiteSmoother / SamplingPlannerId.ChompSmooth with DOI-backed PlanningMethodRefs
• Stewart managed collision (StewartCollisionChecker), Stewart LIN collision validation, and Stewart stroke-space sampling planner support with StewartMethodRefs
• Managed holonomic SE(2) sampling via PlanningOptions.Mobility, MobilityBounds, trajectory base-frame overrides, and MobilityMethodRefs (LaValle)
• LeggedGait.ValidateForPlan adapter for full-driver gait SSM/collision validation with structured PlanningResult
• docs/METHODS.md method catalog for xacro, LIN, PoE, TOTG, constraints, RRT-Connect, PRM*, CHOMP-lite, Stewart, and legged stacks
• LeggedGait.TerrainHeight callback — plant/land on uneven ground; body Z = terrain(x,y) + BodyZ clearance (null = flat Z=0)
• MobilityModel.HolonomicSE2 optional Z for terrain-following base frames
• PlanningMessageCodes.InvalidInput for bad caller data distinct from unavailable planners

Fixed

• LegIk3R default branch is elbow-up (knee high); elbow-down drove femur tips through the ground on stance plants (zigzag sticks)
• Group-map sampling coverage for full-driver subsets beyond a serial tip path; locked joints are re-embedded from the request start state