# Moro 0.6.1 Release Notes

Moro 0.6.1 is a maintenance release focused on **documentation accuracy**
and **consistent Three.js camera orientation**. It does not introduce new
robotics algorithms or change the public computational API.

## Highlights

### Isometric camera consistent with the front view

The default Three.js `Isometric` camera preset now looks toward the robot
from the `(+X, -Y, +Z)` octant. This is consistent with the existing
`Front` (viewed from `-Y`), `Right` (viewed from `+X`) and `Top`
(viewed from `+Z`) presets.

This change applies to both static plots and animated viewers. It only
changes the camera's viewing direction: robot geometry, kinematic
calculations, coordinate frames, Z-up convention, camera-fitting scale,
and other preset directions are unchanged.

### Full-pose inverse-kinematics equations

Corrected the mathematical markup for `position_tol` and
`orientation_tol` so the convergence conditions render properly in
the [inverse-kinematics user guide](../user-guide/inverse-kinematics.md)
and the [full-pose IK example](../examples/full-pose-inverse-kinematics.md).

### Documentation and maintainer guidance

General documentation now describes the current capabilities of Moro
without repeatedly associating stable behavior with a previous version.
Historical migration notes and version-specific release documentation
remain intact.

The procedure for publishing Moro to PyPI has moved from the public
Sphinx navigation into the maintainer runbook,
[`.github/RELEASING.md`](https://github.com/JorgeDeLosSantos/moro/blob/master/.github/RELEASING.md).

## Compatibility

Moro 0.6.1 remains compatible with the Moro 0.6.0 public API. The
previously deprecated transformation predicates and
`Robot.dynamic_model_matrix_form()` remain available during the
0.6.x series; their removal is planned for 0.7.0.

The historical `moro.plotting` module has **not** been removed or
modified in this maintenance release. Its eventual removal belongs to
the planned 0.7.0 cleanup.

## See also

- [Visualization](../user-guide/visualization.md)
- [Inverse kinematics](../user-guide/inverse-kinematics.md)
- [Moro 0.6.0 release notes](0.6.0.md)
- [Installation](../installation.md)