MR's names¶

Modern Robotics	`screws`
`NearZero`	`near_zero`
`Normalize`	`normalize`
`RotInv`	`rot_inv`
`VecToso3`	`vec_to_so3`
`so3ToVec`	`so3_to_vec`
`AxisAng3`	`axis_angle3`
`MatrixExp3`	`exp3`
`MatrixLog3`	`log3`
`RpToTrans`	`rp_to_transform`
`TransToRp`	`transform_to_rp`
`TransInv`	`transform_inv`
`VecTose3`	`vec_to_se3`
`se3ToVec`	`se3_to_vec`
`Adjoint`	`adjoint`
`ScrewToAxis`	`screw_axis`
`AxisAng6`	`axis_angle6`
`MatrixExp6`	`exp6`
`MatrixLog6`	`log6`
`ProjectToSO3`	`project_so3`
`ProjectToSE3`	`project_se3`
`DistanceToSO3`	`distance_so3`
`DistanceToSE3`	`distance_se3`
`TestIfSO3`	`is_so3`
`TestIfSE3`	`is_se3`
`FKinBody`	`fk_body`
`FKinSpace`	`fk_space`
`JacobianBody`	`jacobian_body`
`JacobianSpace`	`jacobian_space`
`IKinBody`	`ik_body`
`IKinSpace`	`ik_space`
`ad`	`ad`
`InverseDynamics`	`inverse_dynamics`
`MassMatrix`	`mass_matrix`
`VelQuadraticForces`	`velocity_quadratic_forces`
`GravityForces`	`gravity_forces`
`EndEffectorForces`	`end_effector_forces`
`ForwardDynamics`	`forward_dynamics`
`EulerStep`	`euler_step`
`InverseDynamicsTrajectory`	`inverse_dynamics_trajectory`
`ForwardDynamicsTrajectory`	`forward_dynamics_trajectory`
`CubicTimeScaling`	`cubic_time_scaling`
`QuinticTimeScaling`	`quintic_time_scaling`
`JointTrajectory`	`joint_trajectory`
`ScrewTrajectory`	`screw_trajectory`
`CartesianTrajectory`	`cartesian_trajectory`

Where a screws function's signature matches MR's, the alias is that function (screws.FKinSpace is screws.fk_space). IKinBody and IKinSpace are thin wrappers that return MR's (thetalist, success) tuple; the primaries return an IKResult with the iteration history. No deprecation warnings, ever.