6-DOF Stewart-Gough Hexapod Inverse Kinematics & Jacobian Singularity Inspector

Deterministic Closed-form SE(3) inverse kinematics l_i = ||t + R·p_i - b_i||, Plücker line 6×6 Wrench Jacobian det(J) singularity check & rod-to-rod capsule clearance engine (.step, .dxf, .csv) built for Simucube, Thanos, Physik Instrumente, Thorlabs — zero-upload ephemeral Wasm RAM execution.

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