Changelog

3.0.0 (2026-06-01)

added (17 changes)

• symbolic line common perpendicular version

• expose pyqtgraph.opengl and add method to include custom GL items in 3D view

• add _flat_xyz function for 3D vector normalization and update plotting methods

• orthogonal projection in PyqtgraphPlotter

• CAD-like rotation of scene in PyqtgraphPlotter

• descriptive warning when STL file not found during importing it to MD

• RationalCurve can be evaluated with sympy number results

• test pipeline for python 3.14

• symbolic backend, including docs

• added interactive visualization to docs for mechanisms

• example update, stl can change pose by transform

• added stl model for visual demo

• PointHom. and DualQuaterion rational=True returns Symbolic class alternative

• math classes refactor, symbolic classes

• matplotlib optional setup for better visibility for papers

• half-turn example of dual quaternion

• tutorial to plot curve of a mechanism

removed (3 changes)

• coverage package pipeline testing, now only pytest

• class RationalDualQuaternion.py removed, DualQuaternion can handle rationals itself

• examples folder del, configs for v3

changed (7 changes)

• numpy v2+ required

• RationalCurve generates inverse coeffs only when demanded

• added as_expr in RationalCurve for improved expression handling taking into account t in denominator

• update of contribute.rst according to new code structure

• new docs testing using literalinclude

• regenerated models in data

• examples folder removed and cleand, replaced by scripts folder

• normalized_in_3d removed from usage within package

fixed (2 changes)

• safe cross on dtype objects, complex warning skipped

• dq_algebraic2vector can handle reals

deprecated (1 change)

• optimization of quadratic curve deprecated

2.6.0 (2026-03-13)

added (8 changes)

• docs for CAD generation

• setting for the sliders range in MotionDesigner, auto-adjust grid

• STL meshes can be scaled via argument

• add STL meshes in the MotionDesigner visualization

• MotionDesigner can preview mechanism using preview_mechanism=True flag

• mechanism parts can be exported as STEP assembly

• new class to represent LinkageCAD and generating methods

• added method to get design points

changed (2 changes)

• for better visibility, Pyqtgraph mechanism plots with new color scheme

• refactor with LinkageCAD class

2.5.0 (2026-02-20)

added (11 changes)

• line model can be exported as STEP solid using build123d

• trimesh and manifold3d are new optional dependencies

• docs updated with STL description

• tool link and frame can be meshed

• single STL mesh can be exported to represent whole linkage at home configuration

• RationalMechanism.get_design prints also joint points in world frame

• motion designer example script

• extended dot product for DQ

• generate random DQ on SQ with integer element values

• changelog description accepts lowercase

• builds also ARM wheels on Github

removed (1 change)

• hoverxref sphinx addon removed as it was deprecated, causing builds to fail

changed (1 change)

• motion interpolation methods follow the ARK paper notation

fixed (2 changes)

• rendering errors in new PyqtGraph version, quickfix to stay at version 0.13

• Mechanism from MotionDesigner didn’t respect white background

2.4.0 (2025-11-21)

added (5 changes)

• linux build runner changed to Github Actions; docs update

• possiblity to run Motion Designer with GUI options

• method for plane-line intersection point

• size of poloted points can be altered

removed (1 change)

• gmpy2 removed from dependencies as it causes issues on ARM devices

changed (1 change)

• update to installation instructions

fixed (3 changes)

• mocking utils in docs

• utils were missing in docs

• parsing angle error

2.2.3 (2025-09-17)

added (1 change)

• MyBinder.org environment setup

fixed (1 change)

• jupyter notebooks import error due to Qt

2.2.0 (2025-09-17)

added (5 changes)

• Windows ARM support, dependencies clean-up and description changed

• tutorial with motion recovery

• new tutorial on obtaining rational axes

• new function for creating rational plucker line vector

• new function for creating rational transformation matrices

changed (2 changes)

• scipy no longer required dependency; matplotlib gets installed on linux

• GUI dependencies should no longer cause error on linux while importing

fixed (1 change)

• debug of rational numbers initialization

2.1.0 (2025-08-13)

added (6 changes)

• docstring update

• ik evaluation is lambified

• ik method can return t param

• optimization for a curved link

• print design params with high precision

• plotting of GL curves

fixed (1 change)

• sympy’s zero was not handled

2.0.0 (2025-06-11)

added (48 changes)

• for plotting, the mechanisms base can be altered

• motion designer added to docs

• gif added to readme and index

• dk, ik, and motion plannings docs

• create PNG animation of rotation

• new simple rational curve example

• tutorial for physical construction of mechanism

• generation of interpolated 6r

• MotionDesigner point values can be edited by textbox

• MotionDesigner point values can be edited by textbox

• MotionDesigner now shows values of control points

• error handling of mechanism creation

• approximation for points draft (not working); force study quadric optimization

• Quaternons and DualQuaternions elements can be set directly

• Plotter.py returns a class instance based on given parameters

• class for Gauss-Legendre curves

• reset of LineSegment counter at update

• LineSegment class has registry, segments are created in circular order of two factorizations

• LineSegment new arg: default (at inf) line coeffs

• new method for obtaining a relative motion between two links-joints

• MotionsDesigner synthesizes and plots mechanism right away

• k-dq x3 calculation in Rust

• rust backend - library import and test methods

• cubic interpolation for both families

• swap in visualization of both families solutions

• heavy calculations separate lib

• new logo

• save PNG figure

• pyqtgraph white background option

• new dependencies

• new utility to extract coefficients from sympy expression

• Cubic interpolation accepts lambda parameter

• Motion Designer for Cubic curve - experimental

• normalized plane default plot

• interactive plotting with Pyqtgraph

• construction of TransfMatrix from single rotation

• motion designer for quadratic curve from poses

• numerical interpolation of quadratic curve

• MotionDesigner for quadratic curves via 5 points

• adding motion designer, not yet working

• interpolation of Bezier curves numerically

• Vispy plotter backend

• PointHomogeneous can be multiplied or divided by scalar

• obtain point orbits using Welzl’s algroithm

• CollisionAnalyser.py takes over calculation for segments orbits

• BezierSegmentControlPoints class avoids init of sympy objects for splitting

• RationalCurve has the “metric” attribute

• added metric attribute RationalMechanism.py

removed (2 changes)

• first point/pose cannot be modified (identity)

• Vispy backend removed

changed (8 changes)

• plotting docs updated for Qt6 backend

• PyQt6 update for Matplotlib backend, saving PyQtgraph with text overlay

• update of models for latest RL version

• get_design returns correct points which do not take into account Onshape’s design params

• init.py cleanup

• new class for Plotting, handling PyQtGraph as default, Matplotlib as secondary backend that is not required

• changes in dependencies, exudyn option

• new default poses for quadratic MD, added test

fixed (10 changes)

• get_design returns correct points; newly input is in meters by default

• labeling erased previous render, Gl not processed well

• debug in case of difficult interpolation - perfomed numerically

• Bennett DH docs fix

• debug example

• vector check not strict enough

• debug - poses append; solve for t optimized

• macos fix for segmentation - too small init windows

• DH params were returning wrong d for base

• debug when normal z-coord was 0, cleanup

1.10.2 (2025-04-11)

added (1 change)

• new logo

fixed (2 changes)

• vector check not strict enough

• DH params were returning wrong d for base

1.10.1 (2025-03-03)

added (1 change)

• github mirroring, notebooks update

fixed (1 change)

• bug: collision searched failed in case of joint-joint collisions

1.10.0 (2025-02-03)

added (12 changes)

• new Motion Approximation method

• tests and debug of new methods

• constructors from 3 points, line and point, intersection with other plane

• intersection of lines and planes, cleanup

• New NormalizedPlane.py class

• numpy-stl added to opt dependencies

• get_design of RationalMechanism.py returns also actual connection points

• print params for onshape new models

• Synthesis of snapping mechanism for two poses - Wunderlich construction

• plotter adds methods triggering controls visibility, saving via command line

• plotter adds methods for plotting planes, axis (quiver) between points, line segments between list of points

• create StaticMechanism.py from algebraic equations (i,j,k,eps)

removed (2 changes)

• code cleanup, removed ButtonID

• examples cleanup

changed (2 changes)

• plotting examples cleanup

• precise Study Quadric check using numpy Polynomials

1.9.0 (2024-11-20)

added (5 changes)

• rational curve can be numerically checked if it is real motion

• rational curve can be created from two quaternions

• interpolation of 7 3D points using cubic curve

• new method for interpolating 5 points with quadratic curve

• testing for Python 3.13

removed (2 changes)

• warning for installation of Exudyn removed

• removed unnecessary warning for RR domain

changed (3 changes)

• tests run for python 3.13

• legend is no longer on plot by default, arg needed

• ik update, robust run automatically

1.8.0 (2024-08-28)

added (11 changes)

• updates to docs, jupyter notebook example on DK IK

• generate csv with desired trajectory

• method to normalize DQ by first element

• traj planning for smooth end-effector velocity

• p2p trajectory planning in joint space

• finding t for splitting curve in equal segments

• numerical ik is for curve and curve.inverse due to numerical stability

• calculate numerically inverse kinematics of linkage

• calculate forward/direct kinematics of linkage

• animate mech passing through given angles

• util to calculate sum of squares in the list

fixed (5 changes)

• ik debug, didn’t take into account tool

• reparameterization of theta driving angle to t must use pluecker norm

• negative angle plotting debug

• ik solver issues with convergence, added normalization

• bug for negative angle

1.7.0 (2024-07-11)

added (2 changes)

• check on Study quadric can be optionally approximate (numerics)

• motion factorization has option to return rational values

changed (2 changes)

• the RationalCurve attribudes are created on call using properties

• docs: update to DQ and Study kinematics

fixed (1 change)

• sympy 1.13 poly uncompatibility fix

1.6.0 (2024-06-27)

added (5 changes)

• semi-automated changelog generation

• Added gmpy2 dependency for faster Sympy

• docs - mouse hovering tooltip

• option to update physical design of a linkage based on physical joint size

• perform and save animation

changed (2 changes)

• faster collision check (forgotten simplify deleted)

• MF’s linkage is now a property that is obtained when needed

fixed (4 changes)

• autogenerate changelog.rst via pandoc

• gmpy2 is fails to build for Python 3.12

• if Z axes are parallel, take footpoint; extra frame not added anymore; tolerance for checking 2 parallel lines lowered

• during DH determination were added axis to screw axes