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Merged
stephane-caron merged 2 commits into from
Apr 20, 2026
+36 −29
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Release v4.2.0 #192

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stephane-caron Apr 20, 2026
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Release v4.2.0
stephane-caron Apr 20, 2026
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53 changes: 28 additions & 25 deletions CHANGELOG.md
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Expand Up @@ -7,6 +7,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0

## [Unreleased]

## [4.2.0] - 2026-04-20

### Added

- Task: Add `ManipulabilityTask` to maximize manipulability of a manipulator (thanks to @danielsanjosepro)
Expand Down Expand Up @@ -454,29 +456,30 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0

- Python package infrastructure

[unreleased]: https://github.com/stephane-caron/pink/compare/v4.1.0...HEAD
[4.1.0]: https://github.com/stephane-caron/pink/compare/v4.0.0...v4.1.0
[4.0.0]: https://github.com/stephane-caron/pink/compare/v3.5.0...v4.0.0
[3.5.0]: https://github.com/stephane-caron/pink/compare/v3.4.0...v3.5.0
[3.4.0]: https://github.com/stephane-caron/pink/compare/v3.3.0...v3.4.0
[3.3.0]: https://github.com/stephane-caron/pink/compare/v3.2.0...v3.3.0
[3.2.0]: https://github.com/stephane-caron/pink/compare/v3.1.0...v3.2.0
[3.1.0]: https://github.com/stephane-caron/pink/compare/v3.0.0...v3.1.0
[3.0.0]: https://github.com/stephane-caron/pink/compare/v2.1.0...v3.0.0
[2.1.0]: https://github.com/stephane-caron/pink/compare/v2.0.0...v2.1.0
[2.0.0]: https://github.com/stephane-caron/pink/compare/v1.1.0...v2.0.0
[1.1.0]: https://github.com/stephane-caron/pink/compare/v1.0.0...v1.1.0
[1.0.0]: https://github.com/stephane-caron/pink/compare/v0.11.0...v1.0.0
[0.11.0]: https://github.com/stephane-caron/pink/compare/v0.10.0...v0.11.0
[0.10.0]: https://github.com/stephane-caron/pink/compare/v0.9.0....v0.10.0
[0.9.0]: https://github.com/stephane-caron/pink/compare/v0.8.0...v0.9.0
[0.8.0]: https://github.com/stephane-caron/pink/compare/v0.7.0...v0.8.0
[0.7.0]: https://github.com/stephane-caron/pink/compare/v0.6.0...v0.7.0
[0.6.0]: https://github.com/stephane-caron/pink/compare/v0.5.0...v0.6.0
[0.5.0]: https://github.com/stephane-caron/pink/compare/v0.4.0...v0.5.0
[0.4.0]: https://github.com/stephane-caron/pink/compare/v0.3.0...v0.4.0
[0.3.0]: https://github.com/stephane-caron/pink/compare/v0.2.0...v0.3.0
[0.2.0]: https://github.com/stephane-caron/pink/compare/v0.1.0...v0.2.0
[0.1.0]: https://github.com/stephane-caron/pink/compare/v0.0.2...v0.1.0
[0.0.2]: https://github.com/stephane-caron/pink/compare/v0.0.1...v0.0.2
[unreleased]: https://github.com/stephane-caron/pink/compare/v4.2.0...HEAD
[4.2.0]: https://github.com/stephane-caron/pink/releases/tag/v4.2.0
[4.1.0]: https://github.com/stephane-caron/pink/releases/tag/v4.1.0
[4.0.0]: https://github.com/stephane-caron/pink/releases/tag/v4.0.0
[3.5.0]: https://github.com/stephane-caron/pink/releases/tag/v3.5.0
[3.4.0]: https://github.com/stephane-caron/pink/releases/tag/v3.4.0
[3.3.0]: https://github.com/stephane-caron/pink/releases/tag/v3.3.0
[3.2.0]: https://github.com/stephane-caron/pink/releases/tag/v3.2.0
[3.1.0]: https://github.com/stephane-caron/pink/releases/tag/v3.1.0
[3.0.0]: https://github.com/stephane-caron/pink/releases/tag/v3.0.0
[2.1.0]: https://github.com/stephane-caron/pink/releases/tag/v2.1.0
[2.0.0]: https://github.com/stephane-caron/pink/releases/tag/v2.0.0
[1.1.0]: https://github.com/stephane-caron/pink/releases/tag/v1.1.0
[1.0.0]: https://github.com/stephane-caron/pink/releases/tag/v1.0.0
[0.11.0]: https://github.com/stephane-caron/pink/releases/tag/v0.11.0
[0.10.0]: https://github.com/stephane-caron/pink/releases/tag/v0.10.0
[0.9.0]: https://github.com/stephane-caron/pink/releases/tag/v0.9.0
[0.8.0]: https://github.com/stephane-caron/pink/releases/tag/v0.8.0
[0.7.0]: https://github.com/stephane-caron/pink/releases/tag/v0.7.0
[0.6.0]: https://github.com/stephane-caron/pink/releases/tag/v0.6.0
[0.5.0]: https://github.com/stephane-caron/pink/releases/tag/v0.5.0
[0.4.0]: https://github.com/stephane-caron/pink/releases/tag/v0.4.0
[0.3.0]: https://github.com/stephane-caron/pink/releases/tag/v0.3.0
[0.2.0]: https://github.com/stephane-caron/pink/releases/tag/v0.2.0
[0.1.0]: https://github.com/stephane-caron/pink/releases/tag/v0.1.0
[0.0.2]: https://github.com/stephane-caron/pink/releases/tag/v0.0.2
[0.0.1]: https://github.com/stephane-caron/pink/releases/tag/v0.0.1
5 changes: 4 additions & 1 deletion CITATION.cff
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@@ -1,7 +1,7 @@
cff-version: 1.2.0
message: "If you find this code helpful, please cite it as below."
title: "Pink: Python inverse kinematics based on Pinocchio"
version: 4.1.0
version: 4.2.0
date-released: 2026-03-11
url: "https://github.com/stephane-caron/pink"
license: "Apache-2.0"
Expand Down Expand Up @@ -32,3 +32,6 @@ authors:
- family-names: "San José Pro"
given-names: "Daniel"
orcid: "https://orcid.org/0009-0007-5948-9700"
- family-names: "Marticorena Vidal"
given-names: "Nicolas Guillermo"
orcid: "https://orcid.org/0000-0002-4163-2827"
4 changes: 2 additions & 2 deletions README.md
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Expand Up @@ -186,10 +186,10 @@ If you use Pink in your scientific works, please cite it *e.g.* as follows:
```bibtex
@software{pink,
title = {{Pink: Python inverse kinematics based on Pinocchio}},
author = {Caron, Stéphane and De Mont-Marin, Yann and Budhiraja, Rohan and Bang, Seung Hyeon and Domrachev, Ivan and Nedelchev, Simeon and Du, Peter and Escande, Adrien and Vaillant, Joris and Wingo, Bruce and Patapati, Santosh and San José Pro, Daniel},
author = {Caron, Stéphane and De Mont-Marin, Yann and Budhiraja, Rohan and Bang, Seung Hyeon and Domrachev, Ivan and Nedelchev, Simeon and Du, Peter and Escande, Adrien and Vaillant, Joris and Wingo, Bruce and Patapati, Santosh and San José Pro, Daniel and Marticorena Vidal, Nicolas Guillermo},
license = {Apache-2.0},
url = {https://github.com/stephane-caron/pink},
version = {4.1.0},
version = {4.2.0},
year = {2026}
}
```
Expand Down
3 changes: 2 additions & 1 deletion pink/__init__.py
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Expand Up @@ -4,6 +4,7 @@
# SPDX-License-Identifier: Apache-2.0
# Copyright 2022 Stéphane Caron
# Copyright 2024 Inria
# Copyright 2026 CNRS

"""Inverse kinematics for articulated robot models, based on Pinocchio."""

Expand All @@ -20,7 +21,7 @@
)
from .utils import custom_configuration_vector

__version__ = "4.1.0"
__version__ = "4.2.0"

__all__ = [
"Configuration",
Expand Down
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