1.2

• Update check mechanisms
  • Check determinant of rotation matrices
  • Increase tolerance of checks for rotation matrices
  • Allow deactivation of ValueErrors for invalid rotation and transformation matrices with argument strict_check=False in several functions and in the TransformManager
• Bugfixes
  • Improve numerical stability of axis_angle_from_matrix(...)
  • Improve numerical stability of angle_between_vectors(...)
  • Fix SLERP between identical orientations
• It is now possible to plot visual / collision meshes of a URDF (with trimesh)
• Improved documentation of conventions for axis-angle representation