Add per-point Yoshikawa manipulability to workspace analysis - #614

Merged

Yuan-Xinyi merged 10 commits into

mainfrom

xinyi/workspace01

Sep 15, 2026

Commits on Sep 10, 2026

perf(workspace): batch kinematics and reuse analytic IK buffers
yuecideng
committed
0196e3b

Commits on Sep 11, 2026

feat(workspace): add per-point Yoshikawa manipulability to analysis

Yuan-Xinyi
and
claude
committed
16e5a2e
fix(workspace): repair cached metrics on load and honor isotropy

Yuan-Xinyi
and
claude
committed
c9d59ce
fix(workspace): strip cached manipulability when the metric is disabled

Yuan-Xinyi
and
claude
committed
0c833d6
fix(workspace): recompute cached aggregates under the current metric config

Yuan-Xinyi
and
claude
committed
e94860e

Commits on Sep 13, 2026

refactor(compute): extract shared manipulability helpers; fix zero-count report

Yuan-Xinyi
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claude
committed
c94fb02
feat(solver): manipulability-based multi-seed IK solution selection

Yuan-Xinyi
and
claude
committed
8771437
fix(workspace): restore per-matrix condition-number fallback

Yuan-Xinyi
and
claude
committed
8e5c276

Commits on Sep 15, 2026

Merge origin/main into xinyi/workspace01

Yuan-Xinyi
and
claude
committed
f12d9a3
Merge branch 'main' into xinyi/workspace01
Yuan-Xinyi
authored
a4540bb