chore: release 1.4.0

Author: github-actions[bot]

.github/.release-please-manifest.json

@@ -1,3 +1,3 @@
 {
-    ".": "1.3.1"
+    ".": "1.4.0"
 }

CHANGELOG.md

@@ -1,5 +1,67 @@
 # Changelog
 
+## [1.4.0](https://github.com/petercorke/robotics-toolbox-python/compare/v1.3.1...v1.4.0) (2026-07-05)
+
+
+### Features
+
+* bundle spatialgeometry as pure-Python (removes external dep) ([1b522e6](https://github.com/petercorke/robotics-toolbox-python/commit/1b522e65f1e50ca37d95d036cad7f405a7c71b5d))
+* change collision backend from PyBullet to Coal ([f99c154](https://github.com/petercorke/robotics-toolbox-python/commit/f99c154f0685b5c13661603e40dffaa4df6d22e7))
+* refactor URDF loading, add Jaco model, fix collision and deepcopy ([d8f9289](https://github.com/petercorke/robotics-toolbox-python/commit/d8f9289d19e9955afcc32b9b856f59ec11705a65))
+
+
+### Bug Fixes
+
+* 343 array ordering causing fkine traj error ([083cdc4](https://github.com/petercorke/robotics-toolbox-python/commit/083cdc434b79e829631d3ab90df1160a0e8f60b4))
+* 355 add qlim setters ([bae653b](https://github.com/petercorke/robotics-toolbox-python/commit/bae653b09a837f48b92859bd32dc064e91146c2d))
+* 361 flipped joint causing Jacobian error ([f0ec2f8](https://github.com/petercorke/robotics-toolbox-python/commit/f0ec2f8d34840fcd6beea2e5084c7c9301d116f3))
+* 366 symbolic printing handled ([eeedeae](https://github.com/petercorke/robotics-toolbox-python/commit/eeedeae2d521e2c4ac2682ddad36c270dcf1f748))
+* 377 add setitem method to ETS class ([3c0e463](https://github.com/petercorke/robotics-toolbox-python/commit/3c0e4637d528f2de3bf7f544e3920fb8bfbc08d1))
+* bdsim blocks and tests ([43e89cf](https://github.com/petercorke/robotics-toolbox-python/commit/43e89cfa01ba7990f654fad9865a75a1ab476d98))
+* **deps:** add coal/trimesh to dev extras ([#528](https://github.com/petercorke/robotics-toolbox-python/issues/528)) ([3bb5847](https://github.com/petercorke/robotics-toolbox-python/commit/3bb5847642e6e6f9b500016128e470b8d647dd0d))
+* **deps:** add missing robot_descriptions dependency ([#534](https://github.com/petercorke/robotics-toolbox-python/issues/534)) ([66c40d4](https://github.com/petercorke/robotics-toolbox-python/commit/66c40d43365a269669488d5bebf958d16fc32931))
+* **deps:** don't require coal on Windows, fix stale install docs ([#531](https://github.com/petercorke/robotics-toolbox-python/issues/531)) ([667084a](https://github.com/petercorke/robotics-toolbox-python/commit/667084ad82ee7e5e8d20c41cc8ca2450f594d41e))
+* **docs:** resolve reST syntax and structural Sphinx build warnings ([#540](https://github.com/petercorke/robotics-toolbox-python/issues/540)) ([cd4e997](https://github.com/petercorke/robotics-toolbox-python/commit/cd4e9970a0e213e58b33637a38bade543b89fc0e))
+* docstrings in robot models ([912cc4b](https://github.com/petercorke/robotics-toolbox-python/commit/912cc4b3dc7a095cc3103cf0cf48c62e0fb86c1e))
+* Mesh filename handling ([#443](https://github.com/petercorke/robotics-toolbox-python/issues/443)) ([4f0d3ff](https://github.com/petercorke/robotics-toolbox-python/commit/4f0d3ffc88081b2a27c2dd944cfe5a9d991362ec))
+* **mobile:** guard VehicleDriverBase against workspace=None, fix RandomPath docstring example ([#541](https://github.com/petercorke/robotics-toolbox-python/issues/541)) ([901cabb](https://github.com/petercorke/robotics-toolbox-python/commit/901cabb03f906e090e050e118d37da92baabdd9f))
+* **models:** add missing URDFRobot.py and Jaco.py ([839ab74](https://github.com/petercorke/robotics-toolbox-python/commit/839ab74ec6285e20641991c2b00da38a9d70c974))
+* **models:** distinguish not-found vs renamed robot_descriptions models ([#537](https://github.com/petercorke/robotics-toolbox-python/issues/537)) ([68da27f](https://github.com/petercorke/robotics-toolbox-python/commit/68da27f022835083662270a5998d874b89714568))
+* **models:** fall back to robot_descriptions' new naming, hide wrapped dependency on failure ([#529](https://github.com/petercorke/robotics-toolbox-python/issues/529)) ([d8441a3](https://github.com/petercorke/robotics-toolbox-python/commit/d8441a30389f36ba5162c69feeade880d2069e3f))
+* **models:** make KinovaGen3 load via robot_descriptions, add XACRO_ARGS support ([#546](https://github.com/petercorke/robotics-toolbox-python/issues/546)) ([d746ce4](https://github.com/petercorke/robotics-toolbox-python/commit/d746ce48a16f4ec04db24f431094bbaac4498299))
+* **models:** patch broken upstream RD files for Valkyrie and Fetch ([#543](https://github.com/petercorke/robotics-toolbox-python/issues/543)) ([acb8c6b](https://github.com/petercorke/robotics-toolbox-python/commit/acb8c6bc6e9c5f55021a7c41e0289d6a096055af))
+* **models:** remove FetchCamera, not used in RVC3 and its URDF is unshippable ([#545](https://github.com/petercorke/robotics-toolbox-python/issues/545)) ([17c67d2](https://github.com/petercorke/robotics-toolbox-python/commit/17c67d25eefee0d671727c461625970c7cbc85cb))
+* **models:** rename list()'s type= param to mtype=, matching stale docs ([#542](https://github.com/petercorke/robotics-toolbox-python/issues/542)) ([c1402f6](https://github.com/petercorke/robotics-toolbox-python/commit/c1402f6ca62d87c6fed8d4eeb96ea5872a41dacb))
+* **rtb-data:** add missing rtb-data package config and data files ([aaff234](https://github.com/petercorke/robotics-toolbox-python/commit/aaff234fa8f16a459f6d1e78c74678d963fab847))
+* **tests:** fix Python 3.10-only mock.patch AttributeError in fknm fallback tests ([#539](https://github.com/petercorke/robotics-toolbox-python/issues/539)) ([38be2c4](https://github.com/petercorke/robotics-toolbox-python/commit/38be2c4761f0ccc5c6ae5d395a05bbb6566b40df))
+* **test:** specify encoding=utf-8 when reading BaseRobot.py/pyproject.toml ([#548](https://github.com/petercorke/robotics-toolbox-python/issues/548)) ([ea4acff](https://github.com/petercorke/robotics-toolbox-python/commit/ea4acff35015534c1fea0fc45584ec198f6d0e79))
+* **tests:** skip test_collision.py cases that require coal ([#538](https://github.com/petercorke/robotics-toolbox-python/issues/538)) ([fc51bc2](https://github.com/petercorke/robotics-toolbox-python/commit/fc51bc2e52f9f664faa079de3c980023bad2107f))
+* URDF parser ([39f14a0](https://github.com/petercorke/robotics-toolbox-python/commit/39f14a0469d8cb3140c677c76f436735e3d5fcc0))
+* **xacro:** use quoteattr for attribute serialization (Python 3.14) ([34bb4e2](https://github.com/petercorke/robotics-toolbox-python/commit/34bb4e2ffeadad7689754863433213830d86e36e)), closes [#511](https://github.com/petercorke/robotics-toolbox-python/issues/511)
+
+
+### Documentation
+
+* add desiderata (design principles) ([104671e](https://github.com/petercorke/robotics-toolbox-python/commit/104671e590ff0285b9161b16c5a4adf1815cabed))
+* make sphinx invocation portable for CI ([5854c42](https://github.com/petercorke/robotics-toolbox-python/commit/5854c42e3c014495f4a5e6526c9edbd6cc693807))
+* README update ([e691441](https://github.com/petercorke/robotics-toolbox-python/commit/e691441e94e5e1b60870931eb943d415454d9d7a))
+* record 1.3.1 in release-please manifest and CHANGELOG ([#532](https://github.com/petercorke/robotics-toolbox-python/issues/532)) ([dfb38c2](https://github.com/petercorke/robotics-toolbox-python/commit/dfb38c21418c355a633f04e2c3ea9d907f1d7521))
+* **tech-debt:** consolidate rtb-data entries, document LBR/Valkyrie/Fetch findings ([#544](https://github.com/petercorke/robotics-toolbox-python/issues/544)) ([8ac586d](https://github.com/petercorke/robotics-toolbox-python/commit/8ac586d26af67e4f9dbb5bf2eda679b34b51b2f2))
+* **tech-debt:** note rtb-data auto-publish idea ([c3cfcb2](https://github.com/petercorke/robotics-toolbox-python/commit/c3cfcb2fa15eab85016182157ae64298c718ff39))
+* **tech-debt:** record post-merge CI findings (fknm 3.10, collision skip gap, flaky IK) ([#535](https://github.com/petercorke/robotics-toolbox-python/issues/535)) ([174d9da](https://github.com/petercorke/robotics-toolbox-python/commit/174d9da597c089429fb4fe34f51b4d32bd55cb86))
+
+
+### Build System
+
+* **deps:** bump actions/checkout from 6 to 7 ([#522](https://github.com/petercorke/robotics-toolbox-python/issues/522)) ([65feed3](https://github.com/petercorke/robotics-toolbox-python/commit/65feed3f702a81371362b06ed98b76e3b236c73a))
+* **deps:** bump actions/upload-pages-artifact from 3 to 5 ([#521](https://github.com/petercorke/robotics-toolbox-python/issues/521)) ([874e4a5](https://github.com/petercorke/robotics-toolbox-python/commit/874e4a5937a8edcaca81aa89a297cf1e116c7766))
+* **deps:** bump amannn/action-semantic-pull-request from 5 to 6 ([#525](https://github.com/petercorke/robotics-toolbox-python/issues/525)) ([9acab8b](https://github.com/petercorke/robotics-toolbox-python/commit/9acab8b9d909e8d0aa3a0a5b3a3c49d472ed751e))
+* **deps:** bump googleapis/release-please-action from 4 to 5 ([#524](https://github.com/petercorke/robotics-toolbox-python/issues/524)) ([a5e59ed](https://github.com/petercorke/robotics-toolbox-python/commit/a5e59ed9a0a0369119676b54bc201af5bd187938))
+* **deps:** bump softprops/action-gh-release from 2 to 3 ([#523](https://github.com/petercorke/robotics-toolbox-python/issues/523)) ([1e6183f](https://github.com/petercorke/robotics-toolbox-python/commit/1e6183f6d2291926dd7d1e205e7fc334aaece99b))
+* exclude rtb-data subdir from sdist ([e45363d](https://github.com/petercorke/robotics-toolbox-python/commit/e45363d16458712321c630902ac736a2be283a42))
+* remove rules for pushing to PyPI, now done by GH actions. ([569fedd](https://github.com/petercorke/robotics-toolbox-python/commit/569fedd1cd026f1a8ecd1122851a9e10d0c0632a))
+* setup proper release process ([d0e0559](https://github.com/petercorke/robotics-toolbox-python/commit/d0e0559a4c59e15d7eb87d9d34cedb11a9eb3fb6))
+
 ## [1.3.1](https://github.com/petercorke/robotics-toolbox-python/compare/v1.3.0...v1.3.1) (2026-07-03)
 
 Manual out-of-band release from the `v1.3.0` tag (not via release-please —

pyproject.toml

@@ -4,7 +4,7 @@ name = "roboticstoolbox-python"
 
 description = "A Python library for robotics education and research"
 
-version = "1.3.0"
+version = "1.4.0"
 
 authors = [
     { name = "Jesse Haviland", email = "j.haviland@qut.edu.au" },