We report the results of low-temperature thermal and magnetic measurements on BaCoNbO powder, described as a uniform triangular-lattice antiferromagnet (TLAF) with a fictitious spin-1/2. BaCoNbO is found to undergo two-step antiferromagnetic transitions at and . As the magnetic field is increased, both $T_{\rm N1}T_{\rm N2}$ monotonically decrease. The magnetic field vs temperature phase diagram indicates that the exchange interactions are nearly of the Heisenberg type with weak easy-axis anisotropy and that the exchange interaction between triangular lattices is crucial, in contrast to the case of the quasi-two-dimensional TLAF BaCoSbO [Susuki {\it et al}., Phys. Rev. Lett. , 267201 (2013)].

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