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SPDX-FileCopyrightText: 2025 James Harton

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# Change Log

All notable changes to this project will be documented in this file.
See [Conventional Commits](Https://conventionalcommits.org) for commit guidelines.

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## [v0.3.2](https://github.com/beam-bots/bb_ik_dls/compare/v0.3.1...v0.3.2) (2026-05-14)




### Bug Fixes:

* respect joint limits during DLS iteration (#24) by James Harton

## [v0.3.1](https://github.com/beam-bots/bb_ik_dls/compare/v0.3.0...v0.3.1) (2026-01-04)




### Improvements:

* update for bb 0.12 command API and add bb_dep helper (#2) by James Harton

## [v0.3.0](https://github.com/beam-bots/bb_ik_dls/compare/v0.2.0...v0.3.0) (2025-12-30)




### Features:

* add collision checking option to IK solver (#1) by James Harton


## [v0.2.0](https://github.com/beam-bots/bb_ik_dls/compare/v0.1.0...v0.2.0) (2025-12-29)



### Features:

* implement Damped Least Squares IK solver