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petercorke merged 3 commits into from
Aug 26, 2026
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chore: release 1.4.2 #651

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2062c5e
chore: release 1.4.2
github-actions[bot] Aug 26, 2026
5916883
Update CHANGELOG for version 1.4.2
petercorke Aug 26, 2026
7fd0e21
Revise changelog for version 1.4.2
petercorke Aug 26, 2026
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2 changes: 1 addition & 1 deletion .github/.release-please-manifest.json
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{
".": "1.4.1"
".": "1.4.2"
}
35 changes: 35 additions & 0 deletions CHANGELOG.md
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# Changelog

## [1.4.2](https://github.com/petercorke/robotics-toolbox-python/compare/v1.4.1...v1.4.2) (2026-08-26)

**Headline**: Fixes to inverse kinematics and forward kinematics for branched robots. Arising from a big trawl through long standing issues (thanks to all those users), many were resolved by recent work, but some were not.
Issues down from 104 to 43 of which 20 are `tech-debt` to be worked through.

### Features

* **ets:** fkine/jacob0/jacobe/hessian0/hessiane accept compact q ([#653](https://github.com/petercorke/robotics-toolbox-python/issues/653)) ([d5b6990](https://github.com/petercorke/robotics-toolbox-python/commit/d5b699025e48afeca147fb2e8b246557d2059c47))
* **examples:** add ikine_XX (C++ and pure-Python ETS) to ik_speed.py ([2f41a71](https://github.com/petercorke/robotics-toolbox-python/commit/2f41a711eba92f97ad1ed38dcd4fa69a87bccb26))
* **examples:** add ikine_XX timing columns to ik_speed.py ([#654](https://github.com/petercorke/robotics-toolbox-python/issues/654)) ([2f41a71](https://github.com/petercorke/robotics-toolbox-python/commit/2f41a711eba92f97ad1ed38dcd4fa69a87bccb26))


### Bug Fixes

* **blocks:** FDyn_X.output() crashed/asserted on unset xdd before deriv() ran ([#647](https://github.com/petercorke/robotics-toolbox-python/issues/647)) ([8caa363](https://github.com/petercorke/robotics-toolbox-python/commit/8caa363a98c158621d6418ccad8f0bbdc93fee11))
* **examples,dhrobot:** repair broken ikine_LMS/ikine_min example references ([#650](https://github.com/petercorke/robotics-toolbox-python/issues/650)) ([6691113](https://github.com/petercorke/robotics-toolbox-python/commit/66911133fdbdb5cf73cb24fcca058f457270099c))
* **ik:** _random_q() silently produces garbage for non-finite joint limits ([#648](https://github.com/petercorke/robotics-toolbox-python/issues/648)) ([2f43a3c](https://github.com/petercorke/robotics-toolbox-python/commit/2f43a3c2812dc8f30d8601a54d453ef158c8b8e0))
* **ik:** unify ik_XX/ikine_XX return types and fix IK docs ([#652](https://github.com/petercorke/robotics-toolbox-python/issues/652)) ([07a60f4](https://github.com/petercorke/robotics-toolbox-python/commit/07a60f4a9fe9bf3de94aaf2428f93f75a7d77d3f))
* **kinematics:** fkine_all() computes wrong poses for links past a nominal end-effector ([#643](https://github.com/petercorke/robotics-toolbox-python/issues/643)) ([25eedcd](https://github.com/petercorke/robotics-toolbox-python/commit/25eedcd4294856cab0a8de346c72ce0a48a50b2e))
* **mobile:** restore missing distance-transform diagonal ([835457e](https://github.com/petercorke/robotics-toolbox-python/commit/835457e0428ade74b68220395a09224737f40d79))
* **models,ik:** correct YuMi gripper parents and IK failure-path q compaction ([#649](https://github.com/petercorke/robotics-toolbox-python/issues/649)) ([7c40242](https://github.com/petercorke/robotics-toolbox-python/commit/7c40242dec4dafcc12940c3eeb9da67f9d2aa7fa))
* **pyplot:** robot.plot(..., movie=...) crashes on save ([#645](https://github.com/petercorke/robotics-toolbox-python/issues/645)) ([2e2bfe2](https://github.com/petercorke/robotics-toolbox-python/commit/2e2bfe2ada4c43f3212db48f052986b25da6254d))
* **pyplot:** scalar plot options (jointaxislength, eelength) crash on override ([a4aea19](https://github.com/petercorke/robotics-toolbox-python/commit/a4aea193354631dc5e208f00f556ff181ba713bb))
* **pyplot:** scalar plot options crash on override ([#642](https://github.com/petercorke/robotics-toolbox-python/issues/642)) ([a4aea19](https://github.com/petercorke/robotics-toolbox-python/commit/a4aea193354631dc5e208f00f556ff181ba713bb))


### Documentation

* fix broken PyPlot backend example in intro.rst ([#641](https://github.com/petercorke/robotics-toolbox-python/issues/641)) ([5e8d2f9](https://github.com/petercorke/robotics-toolbox-python/commit/5e8d2f96f557d2a0014217e8820cbadcd9136889))


### Miscellaneous

* release 1.4.2 ([440a9ec](https://github.com/petercorke/robotics-toolbox-python/commit/440a9eca955430e1fd6f97ed63781e86648d1026))

## [1.4.1](https://github.com/petercorke/robotics-toolbox-python/compare/v1.4.0...v1.4.1) (2026-08-25)


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2 changes: 1 addition & 1 deletion pyproject.toml
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Expand Up @@ -4,7 +4,7 @@ name = "roboticstoolbox-python"

description = "A Python library for robotics education and research"

version = "1.4.1"
version = "1.4.2"

authors = [
{ name = "Jesse Haviland", email = "j.haviland@qut.edu.au" },
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