chore: release 1.5.0

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🤖 I have created a release beep boop

1.5.0 (2026-10-16)

Features

• mobile: planners ignore unknown keywords with a warning; plot(labels=True); distance= for metric (#786) (1a3a19f)

Bug Fixes

• add the payload to the end-effector link instead of overwriting it (#699) (79b169c)
• backends: PyPlot backend fixes, Connector as a Protocol, one window-title helper (#788) (dcb7982)
• blocks: DiffSteer NameError and VehiclePlot shared defaults, with types and docstrings (#775) (f59eee8)
• dhrobot: format prismatic joint limits in string output (#718) (71d07a7)
• docs: drop the obsolete cross-repo spatialgeometry wheel fetch (#703) (477b6e3)
• dynamics: apply prismatic offsets in Python RNE (#800) (544e574)
• dynamics: preserve operational gravity overrides and output shape (#797) (b9e71a5)
• dynamics: support arbitrary joint counts in paycap (#731) (6a45f73)
• dynamics: transform operational Coriolis terms consistently (#796) (c93afaf)
• ekf: plot_error in SLAM, against time, honouring bgcolor, with correct bounds (#749) (0119d66)
• ets2: preserve joint indices and flipped Jacobian signs (#792) (8df90ac)
• ik: apply QP updates at active joint indices (#794) (38909d2)
• ik: IKSolution is a sequence of the rows of q, true if successful (#717) (be4ad92)
• ik: preserve arbitrary half-turn pose error magnitude (#793) (fe51972)
• ik: Robot.ikine_* accept an (N, 4, 4) array of poses (#714) (385747b)
• ik: trajectory residual is the maximum, and document trajectory behaviour (#712) (aee6fb2)
• mobile: align grid planners and backgrounds in world coordinates (#791) (b4e05b4)
• mobile: Bug2 animation, trapped, border handling, and docstrings (#780) (44ce707)
• mobile: DistanceTransform, PRM, QuinticPoly and CurvaturePoly planners (#781) (53becb4)
• mobile: EKF map coordinates and range-bearing observation rows (#784) (4a93c88)
• mobile: EKF map ellipses use each landmark's covariance; description, state copy, sensor type (#787) (d909d7c)
• mobile: make PurePursuit usable; rst docstrings and shaped types in drivers.py (#772) (3a3a1d8)
• mobile: maps: stricter arguments, clearer names, docstrings and types (#779) (ec1e3fe)
• mobile: PlannerBase argument checks, plot without side effects, and <thing>_style arguments (#778) (84a07d2)
• mobile: PoseGraph access and errors, verbose output, style arguments, pgraph 1.0 names (#783) (7def8fa)
• mobile: preserve angular turn-rate units for Unicycle (#719) (606223f)
• mobile: reject negative occupancy grid indices (#790) (be029bd)
• mobile: remove debug output from RRT query (#751) (c7c9b58)
• mobile: resolve the workspace in one place, with a documented precedence (#776) (07090ed)
• mobile: VehicleBase control handling and plot_xyt, tests and docstrings (#774) (2ee9fa9)
• particlefilter: do not pause between steps unless animating (#748) (ea7b4d6)
• particlefilter: get_xyt returns (x, y, theta) as documented (#752) (14775a7)
• planning: retain zero-coordinate path endpoints (#798) (72169ae)
• poe: construct frames for x-aligned screw axes (#799) (7334f2e)
• populate mstraj velocity and acceleration (#706) (8007e33)
• posegraph: ignore blank lines in g2o and toro files (#745) (c66d855)
• prm: honour explicit constructor distance threshold (#754) (788eaf3)
• prm: query before plan raises RuntimeError rather than AttributeError (#744) (e094f89)
• puma: self-contained ikine_a with trajectory and failure handling; deprecate ikine_6s (#715) (1a609c3)
• robot: hasgeometry is true for planar robots whose links have geometry (#814) (4543500)
• robot: improve jacob0_dot docstring, typing overloads, and representation error handling (#737) (b83b469)
• robot: jtraj takes joint coordinates only, SE3 arguments raise (#716) (68185fc)
• slam: report missing PoseGraph vertices with file context (#760) (dba2bfc)
• tests: expect forward-slash filename from spatialgeometry >= 1.4.1 (#702) (c070066)
• tools: report original Jacobian column indices (#795) (cb4b591)
• trajectory: honour non-zero time origins in scalar profiles (#698) (06b8716)
• trajectory: solve the quintic in normalized time, Hermite form behind method= (#805) (97c6c0f)
• urdf: initialise name maps before transmission validation (#801) (057751f)
• urdf: report stage, element and line when a URDF/xacro fails to load (848114b)
• urdf: report stage, element and line when URDF/xacro loading fails (#701) (848114b)
• urdf: rotate inertia tensors from the inertial frame into the link frame (#707) (566cf70)

Documentation

• add Codacy grade badge to README (0372615)
• agents: say where the array type aliases are (#757) (5c7d3d4)
• mobile: correct docstrings for the estimators, sensor, drivers and animations (#750) (b6e86e8)
• update copyright information in LICENSE file (#710) (fc969a3)

Build System

• deps: bump pypa/cibuildwheel from 4.2.0 to 4.2.1 (968ed04)
• deps: bump pypa/cibuildwheel from 4.2.0 to 4.2.1 (acc6842)

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