[gabrielfrasantos]

Wave 3 of the roadmap is the manipulator foundation that about 25 later items build on. Like wave 1, each item is one self-contained commit per roadmap/DEPLOYMENT.md: header, coverage .cpp, the spec's test cases, CMake, doc page and doc-table rows. Each commit also deletes its roadmap/ spec and the matching rows in ROADMAP.md and roadmap/README.md.

Items

Commit	Item	Summary
26ddc25	M1 JointLink	Generic link: joint type (revolute or prismatic), JointLimits, armature, JointTransform(q) and the motion subspace (AngularAxis/LinearAxis). FK, IK, RNEA, ABA and CRBA now go through the motion subspace, so revolute and prismatic joints share one code path. The prismatic Coriolis term and force projection are included, and armature adds to the joint-space inertia. RevoluteJointLink stays as an alias, so existing aggregate initializers and the simulator compile unchanged.
d4106f4	M30 ChainPoseKinematics	Full tool pose (math::SE3Transform) plus the model-independent FrameChain: joint origins, axes and types in the base frame.
9acd4cc	M8 + M7 GeometricJacobian, DenavitHartenberg	M8: 6×N geometric Jacobian, bias acceleration J̇q̇ and statics Jᵀw from any FrameChain, behind the JacobianProvider interface, with ChainTaskJacobian (link model) and DhTaskJacobian (DH) implementations. M7: standard and modified DH tables with constant joint offsets. IK now uses the shared Jacobian instead of its private 3×N one.
7bf2027	M29 ChainDynamicsModel	Implements EulerLagrangeDynamics (M via CRBA, C·q̇ and g via RNEA) and the new one-call InverseDynamicsModel, with SetLinks for payload changes.

Changes from the specs

• M7 and M8 are one commit. M7's DhTaskJacobian implements M8's interface, and an M8 test compares a DH arm with a link arm, so neither can ship first.
• Central differences: the Jacobian finite-difference tests use central differences, which gives more margin at the same step size.
• Extra assertions:
  • The ChainTaskJacobian test also compares the J̇q̇ rows and the tool pose of the 3-row and 6-row versions.
  • The PUMA-560 DH test goes through DhTaskJacobian, which exercises the adapter.
• IK prismatic support: IK previously ignored the joint type; it now handles prismatic joints through the shared Jacobian.

Verification

• host-single-Debug and the coverage build (EMIL_ENABLE_COVERAGE=On): 5/5 test executables pass.
• Merged gcov line coverage of the new and changed headers is 100%, except DhTaskJacobian::BiasAcceleration (2 lines, which forward to the fully tested GeometricJacobian).
• Prismatic correctness was cross-checked outside the spec tests:
  • CRBA columns match RNEA to 6e-8 on a revolute–prismatic–revolute chain.
  • ABA reproduces RNEA's input accelerations to 1e-6.
  • CRBA kinetic energy matches an independent per-link sum, armature included.
  • J̇q̇ (values 0.1–0.7) matches a central difference to 2.5e-5.
• Clang 18 -Wall -Wextra -Werror syntax check of the new translation units is clean. clang-format and scripts/validate-docs.py pass, and no doc line exceeds markdownlint's 400-character limit.
• The simulator's RobotArmSimulator.cpp (which uses the links) still compiles.

Not run locally: the full Qt simulator build, cppcheck and SonarCloud. CI covers these.

Next

Wave 4 (M32, M12, M11, M14, M10, P2) needs nothing upstream. Wave 2 (mobile) still waits on SE(2) (NT66) in numerical-toolbox-cpp.

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✅⚠️MegaLinter analysis: Success with warnings

Descriptor	Linter	Files	Fixed	Errors	Max errors	Warnings	Elapsed time
✅ ACTION	actionlint	7		0		0	0.47s
✅ CPP	clang-format	72	0	0		0	0.91s
✅ CPP	cppcheck	72		0		0	1.28s
✅ DOCKERFILE	hadolint	1		0		0	0.32s
✅ JSON	jsonlint	8		0		0	0.08s
✅ JSON	prettier	8	2	0		0	0.31s
✅ MARKDOWN	markdownlint	165	0	0		0	2.15s
✅ MARKDOWN	markdown-table-formatter	165	0	0		0	0.2s
⚠️ SPELL	lychee	207		2		0	2.2s
✅ YAML	prettier	12	0	0		0	0.44s
✅ YAML	yamllint	12		0		0	0.45s

Detailed Issues

⚠️ SPELL / lychee - 2 errors

[ERROR] failed to verify TLS certificate: invalid peer certificate: UnknownIssuer
📝 Summary
---------------------
🔍 Total..........196
🔗 Unique..........88
✅ Successful.....184
⏳ Timeouts.........0
🔀 Redirected.......5
👻 Excluded.........9
❓ Unknown..........0
🚫 Errors...........2
⛔ Unsupported......2

Errors in .github/workflows/static-analysis.yml
[403] https://binaries.sonarsource.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-$ (at 37:21) | Rejected status code: 403 Forbidden

Errors in doc/kinematics/InverseKinematics.md
[ERROR] https://mathweb.ucsd.edu/~sbuss/ResearchWeb/ikmethods/iksurvey.pdf (at 125:169) | SSL certificate not trusted. Use --insecure if site is trusted

Hint: Followed 5 redirects. You might want to consider replacing redirecting URLs with the resolved URLs. Use verbose mode (`-v`/`-vv`) to see redirection details.
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Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
98.4% Coverage on New Code
0.0% Duplication on New Code

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