Change Log

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All notable changes to this project will be documented in this file. See Conventional Commits for commit guidelines.

v0.8.0 (2026-08-22)

Breaking Changes:

  • match bb's synchronous set_position changes (#98) by James Harton

v0.7.0 (2026-08-05)

Breaking Changes:

  • constrain FABRIK to the robot's real joint axes (#88) by James Harton

v0.6.0 (2026-08-04)

Breaking Changes:

  • refuse multi-DoF chains, and scope solves with source_link (#86) by James Harton

v0.5.0 (2026-08-03)

Breaking Changes:

  • migrate the test mock actuator to handle_command/2 (#81) by James Harton

Improvements:

  • drive the tracking loop from BB.Loop (#83) by James Harton

v0.4.1 (2026-06-26)

Improvements:

  • express FABRIK (position + orientation) as composable defns (#60) by James Harton

v0.4.0 (2026-05-28)

Features:

  • add bb_ik_fabrik.install igniter task (#33) by James Harton

v0.3.2 (2026-05-17)

v0.3.1 (2026-01-04)

Improvements:

  • update for bb 0.12 command API and add bb_dep helper (#9) by James Harton

v0.3.0 (2025-12-29)

Features:

  • orientation-aware FABRIK with co-located joint handling (#6) by James Harton

  • update FABRIK to use Vec3 targets and orientation types by James Harton

  • add orientation-aware FABRIK solving with axis constraints by James Harton

Improvements:

  • use orientation-aware FABRIK internally for all solves by James Harton

v0.2.0 (2025-12-18)

Features:

  • add FABRIK solver with motion integration (#1) by James Harton