chore: add nuget cache files to gitignore#5
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…veLin) Per ADR-004: collisions are runtime conditions, not programmer errors. MoveJoint no longer throws InvalidOperationException on collision; it now leaves state unchanged and emits nothing (matches MoveLin returning -2). Callers needing a structured failure use TryMoveJoint. Updates the MoveJoint collision test to assert no-throw + state preserved.
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…per ADR-004 MoveJoint/MoveLin now return MoveResult and never throw on runtime conditions (joint-limit violations, unreachable IK, collisions). Legacy IRobot int/void signatures retained via explicit interface implementation. TryMoveJoint/TryMoveLin removed as redundant.
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* feat: TASK-003 MoveResult evolution with MoveFailureReason and CollisionResult * feat: TASK-005 ToolModel hierarchy (capsule, mesh, none) * feat: TASK-004 ICollisionSource + primitive hierarchy + PrimitiveCollisionSource * feat: TASK-008 RobotProgram + ProgramStep + JSON round-trip * feat: TASK-009 TeachingPointSet with JSON round-trip * feat: TASK-010 FkValidator + records with schema-versioned JSON * feat: TASK-006 CollisionEnvironment with validation * feat: TASK-007 CollisionDetector with 10 non-adjacent self-collision pairs * feat: TASK-011 SimulatedRobot collision-aware moves, teaching points, program execution * fix: PR#6 round 1 MUST fixes (path-level collision, records, hot-path allocs) - SimulatedRobot.ExecuteWaypoints/Execute: check FirstCollision inside the joint-space interpolation loop so colliding intermediate configs are detected even when endpoints are safe. Truncate steps at last safe sub-step. - Add regression test: safe endpoints, colliding mid-swing obstacle. - ToolModel: remove manual Equals/GetHashCode overrides from record derivatives (rely on compiler-generated structural equality). - CollisionDetector: return IReadOnlyList<CollisionResult> using a lazily allocated List; no final ToArray materialization. - CollisionEnvironment.LinkRadii: expose ImmutableArray<double> instead of IReadOnlyList<double> copied on each use. - FkValidator / TeachingPointSet: pre-size arrays for JSON DTOs instead of Select().ToList() in hot export paths. * fix: PR#6 MUST #4 closed-form segment/box/cylinder SDF Replace 17-point parametric sampling in ClosestPointOnSegmentToBox and ClosestPointOnSegmentToCylinderZ with closed-form break-point enumeration: - Box: endpoints + axis-center crossings + face crossings + outside-quadratic stationary point per sign cell. Up to ~37 structural candidates; exact minimum for piecewise-linear inside SDF and quadratic outside SDF. - Cylinder-Z: endpoints + axial face/center crossings + radial surface crossings (quadratic roots) + radial-projection minimum t*. Adds worst-case tests comparing against a 10_001-sample brute-force minimum plus a tangent-pierce regression that the old uniform sampler missed. * fix: PR#6 finding #5 MoveJoint silently rejects collision (matches MoveLin) Per ADR-004: collisions are runtime conditions, not programmer errors. MoveJoint no longer throws InvalidOperationException on collision; it now leaves state unchanged and emits nothing (matches MoveLin returning -2). Callers needing a structured failure use TryMoveJoint. Updates the MoveJoint collision test to assert no-throw + state preserved. * refactor: SHOULD #5 — unify MoveJoint/MoveLin to MoveResult contract per ADR-004 MoveJoint/MoveLin now return MoveResult and never throw on runtime conditions (joint-limit violations, unreachable IK, collisions). Legacy IRobot int/void signatures retained via explicit interface implementation. TryMoveJoint/TryMoveLin removed as redundant. * feat: TASK-012 RobotPresets FR5 DH correction + v6 fleet (FR3/10/16/20/30) Apply the FR5 DH correction per docs/epics/epic-021-robot-simulator/fairino-preset-reference.md: - a_{J4}: -392.25 -> -395.01 - d4: 115.7 -> 0 (j3/j4 axes parallel under Craig MDH, not in URDF) - d5: 92.2 -> 102.1 - d6: 94.0 -> 102.0 Replace the symmetric +/-175 deg joint-limit array with per-axis v6 limits (J1 +/-178, J2 [-265,+85], J3 +/-162, J4 [-265,+85], J5 +/-178, J6 +/-360). Add factories FairinoFR3/10/16/20/30 built from a shared FairinoV6 helper that hard-wires d4=0 and the shared v6 joint-limit array. Test ground-truth regeneration (OPTION A, user-approved): FK_HOME, FK_CFG_A..E, and WP1..WP5 were regenerated from our own ForwardKinematics output on the corrected model. These are REGRESSION-ONLY fixtures, not independent ground truth. Old fixtures encoded the old (incorrect) DH, so they could not be treated as reference values after the correction. Waypoints were re-chosen as FK outputs of curated joint configs so chained IK seeds stay on the same branch. Limit-violation tests rewritten against the new per-axis limits. IK_Should_Select_ClosestToSeed derives elbow-down from mirror-seeded IK instead of the old hardcoded mirror which no longer reaches the same TCP pose under the corrected DH. 230/230 tests green in csharp/RocketWelder.SDK.Robotics.Core.Tests/. * test: iter3 round-2 Finding #10 v6 preset FK smoke [Theory] Adds FairinoV6_Presets_FK_AtHome_ShouldBe_Finite_And_WithinReach to RobotPresetTests.cs. For every v6 preset the test computes FK(HOME), asserts all TCP components are finite, and bounds |TCP| by the DH-derived geometric reach (sum of |a_i| + |d_i| across the chain) times 1.1. No datasheet reach figures are consulted; the bound is computed directly from the preset's own DH chain, keeping the check self-consistent. 236/236 tests green (up from 230). * docs: strip unsourced payload/reach figures from RobotPresets XML (Finding #9) * test: renumber TASK-003..TASK-012 XML summary refs to TASK-001..TASK-010 --------- Co-authored-by: Daniel Kowalski <daniel.kowalski@modelingevolution.com>
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.nuget-help.db,.nuget/,*.db-shm, and*.db-walto the C#/.NET section of.gitignore🤖 Generated with Claude Code