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
and the full-pose IK example.
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.
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.