Update to new version : 8.1.0.0

github-actions[bot] · github-actions[bot] · commit 7f6597f74d25 · 2025-10-13T11:54:30.000Z
diff --git a/underautomation/universal_robots/lib/UnderAutomation.UniversalRobots.dll b/underautomation/universal_robots/lib/UnderAutomation.UniversalRobots.dll
diff --git a/underautomation/universal_robots/lib/version.txt b/underautomation/universal_robots/lib/version.txt
@@ -1 +1 @@
-8.0.2.0
+8.1.0.0
diff --git a/whatsNew.md b/whatsNew.md
@@ -1,19 +1,3 @@
 [![UnderAutomation Universal Robots communication SDK](https://raw.githubusercontent.com/underautomation/UniversalRobots.NET/refs/heads/main/.github/assets/banner.png)](https://underautomation.com)
 
-- Implement forward and invert kinematics
-
-```C#
-using UnderAutomation.UniversalRobots.Kinematics;
-
-// Get DH parameters
-IUrDhParameters dhParameters = KinematicsUtils.GetDhParametersFromModel(RobotModelsExtended.Ur5e);
-
-// Forward kinematics
-double[] joints = new double[]{0.0, 0.1, 0.0, 0.2, -0.3, 0};
-var fkResult = KinematicsUtils.ForwardKinematics(joints, dhParameters);
-
-// inverse kinematics
-Pose cartesianPose = Pose.From4x4MatrixToRotationVector(fkResult.ToolTransform);
-var matrix = cartesianPose.FromRotationVectorTo4x4Matrix();
-double[][] ikResults = KinematicsUtils.InverseKinematics(matrix, dhParameters);
-```
+- Improve Invert Kinematics and do not filter position with singularities
