roboticstoolbox-python 1.4.2__tar.gz → 1.4.4__tar.gz

roboticstoolbox_python-1.4.4/.github/.release-please-manifest.json

@@ -0,0 +1,3 @@
+{
+    ".": "1.4.4"
+}

roboticstoolbox_python-1.4.4/.github/CONTRIBUTING.md

@@ -0,0 +1,34 @@
+# Contributing to the Robotics Toolbox for Python
+
+Thanks for your interest in contributing! We welcome bug reports, fixes, new features, and documentation improvements.
+
+## Reporting issues
+
+Please use the issue template and include:
+
+- Your operating system, Python version, and roboticstoolbox version
+- A short, self-contained code example that reproduces the problem
+
+## Looking for somewhere to start?
+
+Issues labelled [`good first issue`](https://github.com/petercorke/robotics-toolbox-python/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) or [`help wanted`](https://github.com/petercorke/robotics-toolbox-python/issues?q=is%3Aissue+is%3Aopen+label%3A%22help+wanted%22) are a good place to start.
+
+## Contributing code
+
+- Keep pull requests scoped to a single feature or fix. If you have several unrelated changes, open separate PRs so each can be reviewed and merged independently.
+- For API changes, propose the change in [Discussions](https://github.com/petercorke/robotics-toolbox-python/discussions) before opening a PR.
+- PR titles follow [Conventional Commits](https://www.conventionalcommits.org/) (`type: description`) — checked automatically on the PR.
+- Code is linted and formatted with [ruff](https://docs.astral.sh/ruff/); configuration is in `pyproject.toml` under `[tool.ruff]`.
+- New or changed code should be type-hinted using modern syntax (`X | Y`, `X | None`, `list[X]`, `dict[K, V]` — not `Union`, `Optional`, `List`, `Dict`).
+- Docstrings use reST style (`:param:`, `:returns:`). Type hints in the function signature already cover types, so `:type:`/`:rtype:` are rarely needed.
+- Any code change should be covered by tests and must not break existing ones. Tests live in `tests/`. Install the dev dependencies with `pip install -e '.[dev]'` (add `,docs` too if you're touching documentation), then run:
+
+  ```
+  pytest tests/ --ignore=tests/test_blocks.py --timeout=50 --timeout_method=thread -q
+  ```
+
+- Target branch is `main`.
+
+## License
+
+By contributing, you agree that your contributions will be licensed under this project's [MIT License](LICENSE).

roboticstoolbox_python-1.4.4/.github/workflows/ci.yml

@@ -0,0 +1,165 @@
+# Run tests, coverage, and build docs across all supported platforms
+# Triggers on pushes/PRs to main.
+
+name: CI
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+env:
+  FORCE_JAVASCRIPT_ACTIONS_TO_NODE24: true
+  MPLBACKEND: Agg
+  QT_QPA_PLATFORM: offscreen
+
+jobs:
+  test-core:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v7
+
+      - uses: actions/setup-python@v7
+        with:
+          python-version: "3.12"
+          cache: pip
+
+      - name: Install package (core, no swift)
+        run: pip install .[dev]
+
+      # Model tests (YuMi, Valkyrie, ...) load URDFs via the robot_descriptions
+      # package, which does NOT bundle the actual asset data -- on first use of
+      # a given model it lazily `git clone`s a large upstream asset repo
+      # straight into this cache dir. That clone is real network I/O and can
+      # be slow or occasionally flaky (timeout) on a cold runner. Caching the
+      # directory means only the first run after this lands pays that cost.
+      # Keyed by python-version too (not just OS) -- see the "Removed:
+      # robot_descriptions CI caching" tech-debt entry (git history,
+      # tech-debt.md as of commit f46b5c83^) for why a previous attempt at
+      # this (PR #530) didn't actually help: an OS-only key can't distinguish
+      # between the os x python-version matrix's parallel jobs. Bump "v2" to
+      # force a clean re-fetch if the cache ever ends up corrupted/stale.
+      - name: Cache robot_descriptions assets
+        uses: actions/cache@v6
+        with:
+          path: ~/.cache/robot_descriptions
+          key: robot-descriptions-v2-${{ runner.os }}-3.12
+
+      - name: Verify compiled extensions built
+        # Catches a silent build/import regression for _fknm_c/_frne_c --
+        # without this, tests/test_fknm_fallback.py's C-vs-Python
+        # cross-validation tests would just skip (they're gated on
+        # _C_AVAILABLE precisely so a missing extension can't masquerade as
+        # a passing comparison), and nothing else would notice.
+        shell: bash
+        run: |
+          python -c '
+          from roboticstoolbox.ets.fknm import _C_AVAILABLE as fknm_c
+          from roboticstoolbox.robot.frne import _C_AVAILABLE as frne_c
+          assert fknm_c and frne_c, f"compiled extension missing: fknm={fknm_c} frne={frne_c}"
+          print("OK: both _fknm_c and _frne_c built")
+          '
+
+      - name: Test (core)
+        run: pytest tests/ --ignore=tests/test_blocks.py --timeout=50 --timeout_method=thread -q
+
+  test:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, windows-latest, macos-latest]
+        python-version: ["3.10", "3.11", "3.12", "3.13", "3.14"]
+    steps:
+      - uses: actions/checkout@v7
+
+      - uses: actions/setup-python@v7
+        with:
+          python-version: ${{ matrix.python-version }}
+          cache: pip
+
+      - name: Shorten TEMP path (Windows — avoids MAX_PATH breach during C++ compile)
+        if: runner.os == 'Windows'
+        run: |
+          New-Item -ItemType Directory -Force -Path C:\T | Out-Null
+          "TEMP=C:\T" >> $env:GITHUB_ENV
+          "TMP=C:\T"  >> $env:GITHUB_ENV
+
+      - name: Install package
+        run: pip install .[dev,swift]
+
+      # See the "Cache robot_descriptions assets" step in test-core above --
+      # same reasoning, this job hits the same lazily-cloned model data.
+      - name: Cache robot_descriptions assets
+        uses: actions/cache@v6
+        with:
+          path: ~/.cache/robot_descriptions
+          key: robot-descriptions-v2-${{ runner.os }}-${{ matrix.python-version }}
+
+      - name: Verify compiled extensions built
+        # See the same step in test-core for why this matters.
+        shell: bash
+        run: |
+          python -c '
+          from roboticstoolbox.ets.fknm import _C_AVAILABLE as fknm_c
+          from roboticstoolbox.robot.frne import _C_AVAILABLE as frne_c
+          assert fknm_c and frne_c, f"compiled extension missing: fknm={fknm_c} frne={frne_c}"
+          print("OK: both _fknm_c and _frne_c built")
+          '
+
+      - name: Test
+        run: pytest tests/ --ignore=tests/test_blocks.py --timeout=50 --timeout_method=thread -q
+
+  all-tests-passed:
+    name: All tests passed
+    needs: [test-core, test]
+    runs-on: ubuntu-latest
+    if: always()
+    steps:
+      - name: Check test job results
+        run: |
+          if [ "${{ needs.test-core.result }}" != "success" ] || [ "${{ needs.test.result }}" != "success" ]; then
+            echo "test-core: ${{ needs.test-core.result }}, test: ${{ needs.test.result }}"
+            exit 1
+          fi
+
+  coverage:
+    needs: [test-core, test]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v7
+
+      - uses: actions/setup-python@v7
+        with:
+          python-version: "3.12"
+          cache: pip
+
+      - name: Install package
+        run: pip install .[dev,swift]
+
+      # See the "Cache robot_descriptions assets" step in test-core above --
+      # same reasoning, this job hits the same lazily-cloned model data.
+      - name: Cache robot_descriptions assets
+        uses: actions/cache@v6
+        with:
+          path: ~/.cache/robot_descriptions
+          key: robot-descriptions-v2-${{ runner.os }}-3.12
+
+      - name: Run coverage
+        run: pytest tests/ --ignore=tests/test_blocks.py --cov=src/roboticstoolbox --cov-report=xml:coverage.xml -q
+
+      - uses: codecov/codecov-action@v7
+        with:
+          files: ./coverage.xml
+
+  # Builds the Sphinx docs + JupyterLite site and, on main, deploys them to
+  # GitHub Pages. Steps live in docs.yml (a reusable workflow) so this path
+  # and the manual docs-publish.yml dispatch can never drift apart.
+  docs:
+    needs: [test-core, test]
+    uses: ./.github/workflows/docs.yml
+    permissions:
+      contents: read
+      pages: write
+      id-token: write

roboticstoolbox_python-1.4.4/.github/workflows/dependabot-auto-merge.yml

@@ -0,0 +1,25 @@
+name: Dependabot auto-merge
+
+on: pull_request
+
+permissions:
+  contents: write
+  pull-requests: write
+
+jobs:
+  dependabot:
+    runs-on: ubuntu-latest
+    if: ${{ github.actor == 'dependabot[bot]' }}
+    steps:
+      - name: Dependabot metadata
+        id: metadata
+        uses: dependabot/fetch-metadata@v3
+        with:
+          github-token: "${{ secrets.GITHUB_TOKEN }}"
+
+      - name: Enable auto-merge for patch/minor bumps
+        if: ${{ steps.metadata.outputs.update-type == 'version-update:semver-patch' || steps.metadata.outputs.update-type == 'version-update:semver-minor' }}
+        run: gh pr merge --auto --merge "$PR_URL"
+        env:
+          PR_URL: ${{ github.event.pull_request.html_url }}
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}

roboticstoolbox_python-1.4.4/.github/workflows/docs-publish.yml

@@ -0,0 +1,22 @@
+# Manual escape hatch to rebuild + redeploy the Sphinx docs and JupyterLite
+# ("Try it Now") site without waiting on ci.yml's full test matrix first --
+# e.g. for a docs-only fix that doesn't need the whole suite to re-run.
+#
+# Calls the same reusable docs.yml as ci.yml, so the build/deploy steps
+# themselves are never duplicated between the two trigger paths. Deployment
+# still only happens when run against main (see docs.yml's docs-deploy
+# job) -- dispatching this from another branch just builds, it doesn't
+# publish.
+
+name: Docs Publish
+
+on:
+  workflow_dispatch:
+
+jobs:
+  docs:
+    uses: ./.github/workflows/docs.yml
+    permissions:
+      contents: read
+      pages: write
+      id-token: write

roboticstoolbox_python-1.4.2/.github/workflows/ci.yml → roboticstoolbox_python-1.4.4/.github/workflows/docs.yml

@@ -1,13 +1,16 @@
-# Run tests, coverage, and build docs across all supported platforms
-# Triggers on pushes/PRs to main.
+# Build the Sphinx docs + JupyterLite ("Try it Now") site, and deploy the
+# combined output to GitHub Pages when run against main.
+#
+# Reusable workflow (workflow_call) -- called from ci.yml, gated on the
+# test matrix passing, and from docs-publish.yml, a manual workflow_dispatch
+# escape hatch for a docs-only change that doesn't need the full suite to
+# re-run first. Keeping the build/deploy steps in one place means the two
+# trigger paths can never drift out of sync with each other.
 
-name: CI
+name: Docs
 
 on:
-  push:
-    branches: [main]
-  pull_request:
-    branches: [main]
+  workflow_call:
 
 env:
   FORCE_JAVASCRIPT_ACTIONS_TO_NODE24: true
@@ -15,146 +18,7 @@ env:
   QT_QPA_PLATFORM: offscreen
 
 jobs:
-  test-core:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v7
-
-      - uses: actions/setup-python@v7
-        with:
-          python-version: "3.12"
-          cache: pip
-
-      - name: Install package (core, no swift)
-        run: pip install .[dev]
-
-      # Model tests (YuMi, Valkyrie, ...) load URDFs via the robot_descriptions
-      # package, which does NOT bundle the actual asset data -- on first use of
-      # a given model it lazily `git clone`s a large upstream asset repo
-      # straight into this cache dir. That clone is real network I/O and can
-      # be slow or occasionally flaky (timeout) on a cold runner. Caching the
-      # directory means only the first run after this lands pays that cost.
-      # Keyed by python-version too (not just OS) -- see the "Removed:
-      # robot_descriptions CI caching" tech-debt entry (git history,
-      # tech-debt.md as of commit f46b5c83^) for why a previous attempt at
-      # this (PR #530) didn't actually help: an OS-only key can't distinguish
-      # between the os x python-version matrix's parallel jobs. Bump "v2" to
-      # force a clean re-fetch if the cache ever ends up corrupted/stale.
-      - name: Cache robot_descriptions assets
-        uses: actions/cache@v4
-        with:
-          path: ~/.cache/robot_descriptions
-          key: robot-descriptions-v2-${{ runner.os }}-3.12
-
-      - name: Verify compiled extensions built
-        # Catches a silent build/import regression for _fknm_c/_frne_c --
-        # without this, tests/test_fknm_fallback.py's C-vs-Python
-        # cross-validation tests would just skip (they're gated on
-        # _C_AVAILABLE precisely so a missing extension can't masquerade as
-        # a passing comparison), and nothing else would notice.
-        shell: bash
-        run: |
-          python -c '
-          from roboticstoolbox.ets.fknm import _C_AVAILABLE as fknm_c
-          from roboticstoolbox.robot.frne import _C_AVAILABLE as frne_c
-          assert fknm_c and frne_c, f"compiled extension missing: fknm={fknm_c} frne={frne_c}"
-          print("OK: both _fknm_c and _frne_c built")
-          '
-
-      - name: Test (core)
-        run: pytest tests/ --ignore=tests/test_blocks.py --timeout=50 --timeout_method=thread -q
-
-  test:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      fail-fast: false
-      matrix:
-        os: [ubuntu-latest, windows-latest, macos-latest]
-        python-version: ["3.10", "3.11", "3.12", "3.13", "3.14"]
-    steps:
-      - uses: actions/checkout@v7
-
-      - uses: actions/setup-python@v7
-        with:
-          python-version: ${{ matrix.python-version }}
-          cache: pip
-
-      - name: Shorten TEMP path (Windows — avoids MAX_PATH breach during C++ compile)
-        if: runner.os == 'Windows'
-        run: |
-          New-Item -ItemType Directory -Force -Path C:\T | Out-Null
-          "TEMP=C:\T" >> $env:GITHUB_ENV
-          "TMP=C:\T"  >> $env:GITHUB_ENV
-
-      - name: Install package
-        run: pip install .[dev,swift]
-
-      # See the "Cache robot_descriptions assets" step in test-core above --
-      # same reasoning, this job hits the same lazily-cloned model data.
-      - name: Cache robot_descriptions assets
-        uses: actions/cache@v4
-        with:
-          path: ~/.cache/robot_descriptions
-          key: robot-descriptions-v2-${{ runner.os }}-${{ matrix.python-version }}
-
-      - name: Verify compiled extensions built
-        # See the same step in test-core for why this matters.
-        shell: bash
-        run: |
-          python -c '
-          from roboticstoolbox.ets.fknm import _C_AVAILABLE as fknm_c
-          from roboticstoolbox.robot.frne import _C_AVAILABLE as frne_c
-          assert fknm_c and frne_c, f"compiled extension missing: fknm={fknm_c} frne={frne_c}"
-          print("OK: both _fknm_c and _frne_c built")
-          '
-
-      - name: Test
-        run: pytest tests/ --ignore=tests/test_blocks.py --timeout=50 --timeout_method=thread -q
-
-  all-tests-passed:
-    name: All tests passed
-    needs: [test-core, test]
-    runs-on: ubuntu-latest
-    if: always()
-    steps:
-      - name: Check test job results
-        run: |
-          if [ "${{ needs.test-core.result }}" != "success" ] || [ "${{ needs.test.result }}" != "success" ]; then
-            echo "test-core: ${{ needs.test-core.result }}, test: ${{ needs.test.result }}"
-            exit 1
-          fi
-
-  coverage:
-    needs: [test-core, test]
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v7
-
-      - uses: actions/setup-python@v7
-        with:
-          python-version: "3.12"
-          cache: pip
-
-      - name: Install package
-        run: pip install .[dev,swift]
-
-      # See the "Cache robot_descriptions assets" step in test-core above --
-      # same reasoning, this job hits the same lazily-cloned model data.
-      - name: Cache robot_descriptions assets
-        uses: actions/cache@v4
-        with:
-          path: ~/.cache/robot_descriptions
-          key: robot-descriptions-v2-${{ runner.os }}-3.12
-
-      - name: Run coverage
-        run: pytest tests/ --ignore=tests/test_blocks.py --cov=src/roboticstoolbox --cov-report=xml:coverage.xml -q
-
-      - uses: codecov/codecov-action@v7
-        with:
-          files: ./coverage.xml
-
   docs-build:
-    needs: [test-core, test]
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v7
@@ -170,10 +34,11 @@ jobs:
           pip install sympy
           sudo apt-get install -y graphviz
 
-      # See the "Cache robot_descriptions assets" step in test-core above --
-      # intro.rst's YuMi runblock example loads via robot_descriptions too.
+      # See the "Cache robot_descriptions assets" step in ci.yml's test-core
+      # job -- intro.rst's YuMi runblock example loads via robot_descriptions
+      # too.
       - name: Cache robot_descriptions assets
-        uses: actions/cache@v4
+        uses: actions/cache@v6
         with:
           path: ~/.cache/robot_descriptions
           key: robot-descriptions-v2-${{ runner.os }}-3.12
@@ -297,7 +162,8 @@ jobs:
   # protection rules restricting it to main) is only ever touched on main —
   # a job-level `environment:` triggers a deployment attempt as soon as the
   # job starts, regardless of any step-level `if:`, so PR/dependabot runs
-  # would otherwise show a false "failed to deploy to github-pages".
+  # (or a manual docs-publish.yml dispatch from a feature branch) would
+  # otherwise show a false "failed to deploy to github-pages".
   docs-deploy:
     needs: docs-build
     if: github.ref == 'refs/heads/main'

{roboticstoolbox_python-1.4.2 → roboticstoolbox_python-1.4.4}/.github/workflows/release.yml

@@ -108,7 +108,7 @@ jobs:
       - uses: actions/checkout@v7
 
       - name: Build wheels
-        uses: pypa/cibuildwheel@v4.1.1
+        uses: pypa/cibuildwheel@v4.2.0
 
       - uses: actions/upload-artifact@v7
         with:

{roboticstoolbox_python-1.4.2 → roboticstoolbox_python-1.4.4}/CHANGELOG.md

@@ -1,5 +1,97 @@
 # Changelog
 
+## Highlights
+
+**Correctness fix in inverse dynamics (RNE).** `Robot.rne()` — used by every
+URDF/ETS-based robot's inverse dynamics — was silently returning wrong
+torques for any robot with translational offsets between links (i.e.
+virtually all real robots), traced to an upstream `spatialmath-python`
+change to how spatial forces transform. Fixed, along with two related bugs
+in how static (non-actuated) link mass gets attributed to the correct
+joint. Verified against the compiled C++ reference path and textbook
+closed-form solutions.
+
+**Tool transforms now work everywhere.** `robot.tool`, once set, is
+automatically honored by `fkine`/`jacob0`/`jacobe`/`hessian0`/`hessiane`
+(previously silently ignored unless passed explicitly each call), and all
+seven IK solvers (`ik_LM`/`ik_NR`/`ik_GN`/`ikine_LM`/`ikine_NR`/`ikine_GN`/
+`ikine_QP`) now accept a `tool=` argument directly.
+
+**New:** `Panda(use_robot_descriptions=True)` — an opt-in alternate Panda
+model with real inertial data, for users who need correct dynamics rather
+than the default's faster collision geometry.
+
+**Bug fixes:** `joint_velocity_damper` keyword-argument misuse across
+several example scripts; `DHRobot.ikine_6s` undoing the tool transform on
+the wrong side; UR5's gripper link now resolved by name instead of a
+fragile raw index.
+
+**Wiki refresh (not reflected in this changelog — wiki edits are direct
+pushes to a separate repo, not commits here):** a full currency pass across
+all 26 pages, stale/incorrect content fixed, ROS references removed, and
+new pages added — Panda model comparison, reactive control, inverse
+kinematics, and IK/RNE benchmark results with real numbers.
+
+
+## [1.4.4](https://github.com/petercorke/robotics-toolbox-python/compare/v1.4.3...v1.4.4) (2026-09-20)
+
+
+### Features
+
+* **urdf:** Panda(use_robot_descriptions=True) option; doc the tradeoff ([#687](https://github.com/petercorke/robotics-toolbox-python/issues/687)) ([124882b](https://github.com/petercorke/robotics-toolbox-python/commit/124882b06880dff49c015e1156041435eaa0023c))
+
+
+### Bug Fixes
+
+* **dhrobot:** ikine_6s undoes the tool transform on the wrong side ([#680](https://github.com/petercorke/robotics-toolbox-python/issues/680)) ([9fbffc6](https://github.com/petercorke/robotics-toolbox-python/commit/9fbffc6f09265f084e1b53c04b09a75a4aced643)), closes [#640](https://github.com/petercorke/robotics-toolbox-python/issues/640)
+* **docs:** mock bdsim imports so blocks pages render in docs CI ([436e1f3](https://github.com/petercorke/robotics-toolbox-python/commit/436e1f3bbd26faa26eed97ddd47cbf47609bf216))
+* **examples:** call joint_velocity_damper with keyword args ([#690](https://github.com/petercorke/robotics-toolbox-python/issues/690)) ([95ac98e](https://github.com/petercorke/robotics-toolbox-python/commit/95ac98e31876b2226b9f51778ba149e105de78c7))
+* **examples:** call joint_velocity_damper with keyword args in fetch_vision.py ([#695](https://github.com/petercorke/robotics-toolbox-python/issues/695)) ([7aa2d31](https://github.com/petercorke/robotics-toolbox-python/commit/7aa2d317445c84e8eeb8ea64e78cafce2fb938d5))
+* **joint_velocity_damper:** fix bug in q usage ([#666](https://github.com/petercorke/robotics-toolbox-python/issues/666)) ([8246559](https://github.com/petercorke/robotics-toolbox-python/commit/8246559202dd1722f8b6538daad66aed735ca928))
+* **kinematics:** self.tool now applies by default; ik_LM/ik_NR/ik_GN/ikine_XX gain a tool= kwarg ([#697](https://github.com/petercorke/robotics-toolbox-python/issues/697)) ([61d078f](https://github.com/petercorke/robotics-toolbox-python/commit/61d078fcdf419199209ef5cf931c2c2ef51e0859))
+* link_collision_damper ([#685](https://github.com/petercorke/robotics-toolbox-python/issues/685)) ([c040522](https://github.com/petercorke/robotics-toolbox-python/commit/c04052208094fe458efd707c84fe970580ac2fe2))
+* preserve joint types and limits in numerical IK ([e122ccb](https://github.com/petercorke/robotics-toolbox-python/commit/e122ccb9a1ad003879a63ff0fa6d3accdcddde26))
+* **rne:** attribute a sandwiched static link's mass to its preceding joint, not the following one ([#693](https://github.com/petercorke/robotics-toolbox-python/issues/693)) ([bebede0](https://github.com/petercorke/robotics-toolbox-python/commit/bebede019601f4b641cdc5ed8e390f480fad766d))
+* **rne:** don't crash when a joint's kinematic parent is a base-mounted static link ([#696](https://github.com/petercorke/robotics-toolbox-python/issues/696)) ([dba179e](https://github.com/petercorke/robotics-toolbox-python/commit/dba179ed84eae8162257d434197d77609ceb0b15))
+* **rne:** propagate backward-pass force through the correct transform direction ([#691](https://github.com/petercorke/robotics-toolbox-python/issues/691)) ([a80c9c1](https://github.com/petercorke/robotics-toolbox-python/commit/a80c9c1c4c609c35494d7f127054c408f993635f))
+* **rne:** trailing static links after the last joint had their mass dropped ([#684](https://github.com/petercorke/robotics-toolbox-python/issues/684)) ([0d76187](https://github.com/petercorke/robotics-toolbox-python/commit/0d76187b21d86713fc13a36ed6bc00a275eab858))
+* **rtbtool:** drop stray quote in banner's import line ([#678](https://github.com/petercorke/robotics-toolbox-python/issues/678)) ([b36c398](https://github.com/petercorke/robotics-toolbox-python/commit/b36c398aa81de96bc0784c25601ade1bb95e7e73))
+* **urdf:** resolve UR5's gripper link by name, not a raw index ([#683](https://github.com/petercorke/robotics-toolbox-python/issues/683)) ([12ba598](https://github.com/petercorke/robotics-toolbox-python/commit/12ba598a58c1ae21db9145ce4dbca798e8065652)), closes [#578](https://github.com/petercorke/robotics-toolbox-python/issues/578)
+
+
+### Documentation
+
+* **models:** credit robot_descriptions in the 8 model classes that use it ([#681](https://github.com/petercorke/robotics-toolbox-python/issues/681)) ([5dc8618](https://github.com/petercorke/robotics-toolbox-python/commit/5dc86184df70ec4cc639db76d203fb534ce8a3f7))
+* **models:** note UR10's near-singular inertia matrix is manufacturer data ([#682](https://github.com/petercorke/robotics-toolbox-python/issues/682)) ([97b0a3f](https://github.com/petercorke/robotics-toolbox-python/commit/97b0a3fa554733ca1247793f199cc6a6d9ba40c1))
+* **readme:** move research applications section to the wiki ([#689](https://github.com/petercorke/robotics-toolbox-python/issues/689)) ([8facc5e](https://github.com/petercorke/robotics-toolbox-python/commit/8facc5eeef8fc5c9ec93b5f1c1f340b0a4fa03ea))
+
+
+### Miscellaneous
+
+* release as 1.4.4 ([758a81b](https://github.com/petercorke/robotics-toolbox-python/commit/758a81b26fe1302a660aeba3a47b79abb76c2855))
+
+## [1.4.3](https://github.com/petercorke/robotics-toolbox-python/compare/v1.4.2...v1.4.3) (2026-09-12)
+
+
+### Bug Fixes
+
+* check IK convergence before solver step ([aabe415](https://github.com/petercorke/robotics-toolbox-python/commit/aabe415af02c0fe9336fd9eb3693e962b5b577e2))
+
+
+### Documentation
+
+* expand trchain runblock examples ([#655](https://github.com/petercorke/robotics-toolbox-python/issues/655)) ([9e6c00c](https://github.com/petercorke/robotics-toolbox-python/commit/9e6c00c63b7cee1c94476bac5bc7e113e48cf9ab))
+* fix broken URL ([#657](https://github.com/petercorke/robotics-toolbox-python/issues/657)) ([2d24e0d](https://github.com/petercorke/robotics-toolbox-python/commit/2d24e0d8f75c15bd7937f78347b876b0d51d7cf4))
+* **readme:** remove wasm info ([#656](https://github.com/petercorke/robotics-toolbox-python/issues/656)) ([4ba11d1](https://github.com/petercorke/robotics-toolbox-python/commit/4ba11d19523ef79dcba1beede3fc79ca0cbe8f8f))
+* rewrite CONTRIBUTING.md ([cd9c619](https://github.com/petercorke/robotics-toolbox-python/commit/cd9c619040f3f98acaea9a67520c67b3d74b30e9))
+* showcase trchain runblock examples ([9e6c00c](https://github.com/petercorke/robotics-toolbox-python/commit/9e6c00c63b7cee1c94476bac5bc7e113e48cf9ab))
+
+
+### Build System
+
+* **deps:** bump actions/cache from 4 to 6 ([1ebf302](https://github.com/petercorke/robotics-toolbox-python/commit/1ebf302c125f0cec4fb368eac8ce4d0c7364cad2))
+* **deps:** bump pypa/cibuildwheel from 4.1.1 to 4.2.0 ([efbca2a](https://github.com/petercorke/robotics-toolbox-python/commit/efbca2a27d287fd4aa6e69e3c2f1c7ede875fc3b))
+
 ## [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.