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1. Commits on Oct 16, 2026

   • test+fix: direct tests for e2h/h2e, h2e rejects <2 rows, document contract (#240)

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     petercorke

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     claude

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   • Reject unsupported ndarray ranks in isvector (#239)

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     MokiMeow

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   • Fix animation start pose being applied twice in Animate.trplot (#238)

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     RoboX2020

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   • Make Line3 relation tests invariant to Plücker scale (#232)

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     Doribelove

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   • fix: trplot/trplot2 silently swallowed unknown keyword arguments (#230)

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     petercorke

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     claude

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   • chore: reorganize timing script as benchmarks/benchmark_smtb.py (#229)

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     petercorke

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     claude

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   • fix: broken docstring examples in Twist2/Twist3/DualQuaternion (and their shared root cause) (#225)

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     petercorke

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2. Commits on Oct 13, 2026

   • perf(base): speed up isskewa, cache identity in trexp/trlog/rodrigues (#216)

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     petercorke

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     claude

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   • perf(base): speed up qqmul and qvmul (#215)

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     petercorke

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     claude

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   • perf(base): speed up trnorm and tr2adjoint (#214)

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     petercorke

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     claude

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   • perf(base): speed up isR/ishom/ishom2 orthogonality checks (#213)

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     petercorke

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     claude

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   • refactor(base): collapse the three-way Python-version type shim into one file (#212)

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     petercorke

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   • fix: __version__ guard catches everything and leaves it unset on failure (#206)

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     petercorke

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   • Make vector projections independent of direction scale (#242)

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     xiehuanyi

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   • Fold latitude angles correctly across complete turns (#241)

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     xiehuanyi

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   • fix: preserve small rotations in quaternion logarithms (#237)

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     dddd-jh

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   • Fix Line3 distance for parallel and non-unit directions (#224)

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     Doribelove

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   • fix: normalize ICP2d's returned transform to exact orthonormality (#204)

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     petercorke

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3. Commits on Sep 16, 2026

   • Fix SpatialForce/SpatialMomentum SE(3) transform to use the coadjoint (Ad^-T) (#207)

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     youdie006

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     petercorke

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4. Commits on Sep 15, 2026

   • perf: defer Matplotlib import until something actually plots (#198)

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     petercorke

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   • fix: support scalar/2-elem dim shorthand in tranimate/Animate (#202)

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     petercorke

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   • fix: SO3.RotatedVector returned identity for antipodal vectors (#201)

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     petercorke

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   • refactor: consistent printline() across pose and quaternion classes (#200)

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     petercorke

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   • feat(pose,quaternion): add __imatmul__ (@=) operator (#199)

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     petercorke

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   • Fix slerp at coincident/antipodal endpoints, and SO2/SE2.interp1() (#193)

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     binggao1230

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     petercorke

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   • Use new colored API (#173)

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     shermansiu

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     petercorke

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   • fix: support derived Animate classes in order to use the same axes. (#50)

     tahsinkose

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5. Commits on Sep 2, 2026

   • Fix/twist pitch clean (#196)

     petercorke

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6. Commits on Aug 13, 2026

   • docs: fix Sphinx docstring formatting and reST syntax errors (#195)

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     petercorke

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     jbarry-bdai

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   • fix(base): export tr2pos2, pos2tr2, tr2adjoint2; rename tradjoint2 (#194)

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     petercorke

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     jbarry-bdai

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   • Fixes to base.plot_box() (#179)

     petercorke

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7. Commits on Apr 17, 2026

   • Fix breaking bug in `angvec2r`. (#180)

     petercorke

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8. Commits on Nov 10, 2025

   • Change to new RAI Institute copyright (#175)

     baxelrod-bdai

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9. Commits on Mar 7, 2025

   • Add `mean()` method for `SE3` objects. (#167)

     petercorke

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10. Commits on Feb 19, 2025

    • #165 use qunit in trinterp (#166)

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      tweng-bdai

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      myeatman-bdai

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