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Merged
siddhss5 merged 1 commit into from
Sep 19, 2026
Merged

Release v1.3.0 #73

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9 changes: 8 additions & 1 deletion CHANGELOG.md
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Expand Up @@ -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

Expand Down Expand Up @@ -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
2 changes: 1 addition & 1 deletion pyproject.toml
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@@ -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"
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