From 9f92c9a825052022336198598854b651dfd778ea Mon Sep 17 00:00:00 2001 From: Siddhartha Srinivasa Date: Sat, 19 Sep 2026 15:42:54 -0700 Subject: [PATCH] Release v1.3.0 Finalize the changelog for the SSIK backend release (#63 and its post-merge fixes #65, #66, #69, #70) and bump the version. plan(...) unchanged; minor bump for the ssik extra, the reduced IKSolver protocol, and the EAIK deprecation. --- CHANGELOG.md | 9 ++++++++- pyproject.toml | 2 +- 2 files changed, 9 insertions(+), 2 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 843f3da..a9ce07e 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -4,7 +4,13 @@ All notable changes to pycbirrt. The format follows [Keep a Changelog](https://keepachangelog.com/en/1.1.0/), and the project follows [Semantic Versioning](https://semver.org/). -## [Unreleased] +## [1.3.0] - 2026-09-19 + +The analytical IK backend moves from EAIK to SSIK. `plan(...)` and the +planner core are unchanged; the minor bump is for the new `pycbirrt[ssik]` +extra, the reduced `IKSolver` protocol, and the EAIK deprecation. Users of +the MuJoCo differential fallback should read the Fixed section: it was not +runnable from the examples in 1.2.0 and its unseeded behavior has changed. ### Added @@ -244,6 +250,7 @@ semantics; every 1.0.0 test passes unchanged. Initial release: CBiRRT with TSR start, goal, and path constraints; MuJoCo and EAIK backends; planar arm and UR5e examples. +[1.3.0]: https://github.com/personalrobotics/pycbirrt/compare/v1.2.0...v1.3.0 [1.2.0]: https://github.com/personalrobotics/pycbirrt/compare/v1.1.0...v1.2.0 [1.1.0]: https://github.com/personalrobotics/pycbirrt/compare/v1.0.0...v1.1.0 [1.0.0]: https://github.com/personalrobotics/pycbirrt/releases/tag/v1.0.0 diff --git a/pyproject.toml b/pyproject.toml index 41b3382..6216082 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "pycbirrt" -version = "1.2.0" +version = "1.3.0" description = "CBiRRT motion planner with TSR constraints" readme = "README.md" requires-python = ">=3.10"