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Motus.NET 1.8.0

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@github-actions github-actions released this 19 Sep 14:02
· 8 commits to master since this release
v1.8.0
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Added

  • FreeFlyerHullCollisionChecker (IBaseFrameCollisionChecker): sphere hull at per-sample base frame for HolonomicSE3 free-flyer collision (clear/blocked RRT smoke).
  • Aerial TrajectoryExport honesty: Family=aerial JSON/CSV emit bodyPose (m + RPY rad) and waypointsQ=not_ur_movej — never jointsRadians / MoveJ columns.
  • Experimental Unitree Go2 meshless fixture (tests/fixtures/unitree_go2/go2_minimal.urdf) + LoadTree/FK/stance smoke — mammal quad ≠ insectoid Family=legged Walk; cites unitree_ros go2_description.
  • MobilityModel.HolonomicSE3 + MobilityBoundsSE3: offline SE(3) free-flyer mobility (x/y/z + RPY) with singularity Status near pitch ±π/2; managed sampling appends +6 dims beside existing HolonomicSE2.
  • Units.AerialFamily / IsAerial — Family gate so aerial body poses are not treated as UR MoveJ radians.
  • Docs: docs/adr/0001-holonomic-se3-aerial.md, docs/aerial.md; meshless fixture tests/fixtures/aerial/free_flyer_box.urdf.
  • Catalog URDF fixtures + smoke tests (Panda, UR10e+Robotiq minimal); experimental Unitree H2 meshless fixture + smoke tests.
  • RegressionMatrixLogicTests — CI coverage for Motus.Grasshopper docs/regression-matrix.md rows that cannot run Rhino GUI on GitHub runners (serial LIN/joint/RRT, Stewart meters export, HolonomicSE2, Tool Cap schema, IK Status, PlanBodyPath, Example 10 Touch, export TotgLite default).
  • Roadmap Path to 2.0: public SemVer jumps 0.17.0 → 1.8.0 → 1.9.0 → 2.0.0 (no empty 1.0–1.7 NuGet line).

Changed

  • Development package/Directory.Build.props / motus-net.version aligned to 1.8.0 (next coordinated cut after shipped 0.17.0).
Assets 14
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