chore: release 1.4.0

[github-actions]

🤖 I have created a release beep boop

1.4.0 (2026-07-05)

Features

• bundle spatialgeometry as pure-Python (removes external dep) (1b522e6)
• change collision backend from PyBullet to Coal (f99c154)
• refactor URDF loading, add Jaco model, fix collision and deepcopy (d8f9289)

Bug Fixes

• 343 array ordering causing fkine traj error (083cdc4)
• 355 add qlim setters (bae653b)
• 361 flipped joint causing Jacobian error (f0ec2f8)
• 366 symbolic printing handled (eeedeae)
• 377 add setitem method to ETS class (3c0e463)
• bdsim blocks and tests (43e89cf)
• deps: add coal/trimesh to dev extras (#528) (3bb5847)
• deps: add missing robot_descriptions dependency (#534) (66c40d4)
• deps: don't require coal on Windows, fix stale install docs (#531) (667084a)
• docs: fix intro.rst syntax errors, dangling section, and stale claims (#549) (29ee42b)
• docs: resolve reST syntax and structural Sphinx build warnings (#540) (cd4e997)
• docstrings in robot models (912cc4b)
• Mesh filename handling (#443) (4f0d3ff)
• mobile: guard VehicleDriverBase against workspace=None, fix RandomPath docstring example (#541) (901cabb)
• models: add missing URDFRobot.py and Jaco.py (839ab74)
• models: distinguish not-found vs renamed robot_descriptions models (#537) (68da27f)
• models: fall back to robot_descriptions' new naming, hide wrapped dependency on failure (#529) (d8441a3)
• models: make KinovaGen3 load via robot_descriptions, add XACRO_ARGS support (#546) (d746ce4)
• models: patch broken upstream RD files for Valkyrie and Fetch (#543) (acb8c6b)
• models: remove FetchCamera, not used in RVC3 and its URDF is unshippable (#545) (17c67d2)
• models: rename list()'s type= param to mtype=, matching stale docs (#542) (c1402f6)
• rtb-data: add missing rtb-data package config and data files (aaff234)
• tests: fix Python 3.10-only mock.patch AttributeError in fknm fallback tests (#539) (38be2c4)
• test: specify encoding=utf-8 when reading BaseRobot.py/pyproject.toml (#548) (ea4acff)
• tests: skip test_collision.py cases that require coal (#538) (fc51bc2)
• URDF parser (39f14a0)
• xacro: use quoteattr for attribute serialization (Python 3.14) (34bb4e2), closes #511

Documentation

• add desiderata (design principles) (104671e)
• make sphinx invocation portable for CI (5854c42)
• README update (e691441)
• record 1.3.1 in release-please manifest and CHANGELOG (#532) (dfb38c2)
• tech-debt: consolidate rtb-data entries, document LBR/Valkyrie/Fetch findings (#544) (8ac586d)
• tech-debt: note rtb-data auto-publish idea (c3cfcb2)
• tech-debt: record post-merge CI findings (fknm 3.10, collision skip gap, flaky IK) (#535) (174d9da)

Build System

• deps: bump actions/checkout from 6 to 7 (#522) (65feed3)
• deps: bump actions/upload-pages-artifact from 3 to 5 (#521) (874e4a5)
• deps: bump amannn/action-semantic-pull-request from 5 to 6 (#525) (9acab8b)
• deps: bump googleapis/release-please-action from 4 to 5 (#524) (a5e59ed)
• deps: bump softprops/action-gh-release from 2 to 3 (#523) (1e6183f)
• exclude rtb-data subdir from sdist (e45363d)
• remove rules for pushing to PyPI, now done by GH actions. (569fedd)
• setup proper release process (d0e0559)

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