Releases | Open Source Science

DART 6.15.0 (2024-11-15)

This is a simple maintenance release with updates to support newer dependency versions.

Tested Platforms
- Linux
- Ubuntu 22.04 LTS / GCC 11.4 / x86_64
- Ubuntu 24.04 LTS / GCC 13.2 / x86_64
- macOS 14 / Clang 15 / arm64
- Windows / MSVC 19.40 / x86_64
Build
- Added ImGui 1.91.5 support: #1872
- Added nlopt 2.9.0 support: #1875
- Fixed imgui is not added as a transitive dependency: #1877

Scientific Software - Peer-reviewed - C++
Published by jslee02 over 1 year ago

DART 6.14.5 (2024-09-08)

Tested Platforms
- Linux
- Ubuntu 22.04 LTS / GCC 11.4 / x86_64
- Ubuntu 24.04 LTS / GCC 13.2 / x86_64
- macOS 14 / Clang 15 / arm64
- Windows / MSVC 19.40 / x86_64
Fixed missing parentheses in config.hpp: #1838
Allowed negative scale for MeshShape: #1841

Scientific Software - Peer-reviewed - C++
Published by jslee02 over 1 year ago

DART 6.14.4 (2024-07-06)

Tested Platforms
- Linux
- Ubuntu 22.04 LTS / GCC 11.4 / x86_64
- Ubuntu 24.04 LTS / GCC 13.2 / x86_64
- macOS 14 / Clang 15 / arm64
- Windows / MSVC 19.40 / x86_64
Fixed GLUT dependency handling on Windows: #1827

Scientific Software - Peer-reviewed - C++
Published by jslee02 almost 2 years ago

DART 6.14.3 (2024-07-05)

Tested Platforms
- Linux
- Ubuntu 22.04 LTS / GCC 11.4 / x86_64
- Ubuntu 24.04 LTS / GCC 13.2 / x86_64
- macOS 14 / Clang 15 / arm64
- Windows / MSVC 19.40 / x86_64
Changed the default CMake option to DARTENABLESIMD=OFF: #1825

Scientific Software - Peer-reviewed - C++
Published by jslee02 almost 2 years ago

DART 6.14.2 (2024-06-28)

Tested Platforms
- Linux
- Ubuntu 22.04 LTS / GCC 11.4 / x86_64
- Ubuntu 24.04 LTS / GCC 13.2 / x86_64
- macOS 14 / Clang 15 / arm64
- Windows / MSVC 19.40 / x86_64
Fixed version definitions: #1820

Scientific Software - Peer-reviewed - C++
Published by jslee02 almost 2 years ago

DART 6.14.1 (2024-06-26)

Tested Platforms
- Linux
- Ubuntu 22.04 LTS / GCC 11.4 / x86_64
- Ubuntu 24.04 LTS / GCC 13.2 / x86_64
- macOS 14 / Clang 15 / arm64
- Windows / MSVC 19.40 / x86_64
Included CTest for BUILD_TESTING option: #1819

Scientific Software - Peer-reviewed - C++
Published by jslee02 almost 2 years ago

DART 6.14.0 (2024-06-24)

This release is mostly a maintenance update, including various CI updates and build fixes for recent development environment toolsets and dependencies.

Tested Platforms
- Linux
- Ubuntu 22.04 LTS / GCC 11.4 / x86_64
- Ubuntu 24.04 LTS / GCC 13.2 / x86_64
- macOS 14 / Clang 15 / arm64
- Windows / MSVC 19.40 / x86_64
Breaking Changes
- Removed planning component
Build
- Added Pixi support
General
- Added profile interface with Tracy backend support
- Added benchmark setup, including boxes and kinematics benchmarks
Dynamics
- Allowed specifying mimic joint properties per DoF: #1752
- Improved performance in constructing LCP problem

Full Changelog: https://github.com/dartsim/dart/compare/v6.13.2...v6.14.0

Scientific Software - Peer-reviewed - C++
Published by jslee02 almost 2 years ago

DART - DART v6.13.2

Tested Platforms
- Linux
- Ubuntu 22.04 LTS on amd64 / GCC 11.2 / amd64
- Ubuntu 24.04 LTS on amd64 / GCC 13.2 / amd64
- macOS 12 (Monterey) / AppleClang 14 / amd64
- Windows / MSVC 19.38 / amd64
Build
- Fixed build with GCC >= 13: #1793

Scientific Software - Peer-reviewed - C++
Published by jslee02 about 2 years ago

DART 6.13.1 (2024-01-04)

Tested Platforms
- Ubuntu Focal on amd64 / GCC 9.4 / amd64
- Ubuntu Jammy on amd64 / GCC 11.3 / amd64
- macOS 12 (Monterey) / Clang 14 / amd64
- Windows / MSVC 19.37 / amd64
Build
- Fixed build with urdfdom 4.0.0: #1779
- Fixed invalid array access in moving skeleton subtree: #1778
Dynamics
- Fixed joint not recovering after reaching position limits in servo mode: #1774

Scientific Software - Peer-reviewed - C++
Published by jslee02 over 2 years ago

DART 6.13.0 (2022-12-31)

Supported Platforms
- Ubuntu Focal on amd64 / GCC 9.3 / amd64
- Ubuntu Jammy on amd64 / GCC 11.2 / amd64
- macOS 12 (Monterey) / Clang 13 / amd64
- Windows / Microsoft Visual Studio 2019 / amd64
Dependency
- Added required dependencies: fmt
- Added optional dependencies: spdlog
- Removed required dependencies: Boost
Build
- Dropped supporting FCL < 0.5: #1647
Common
- Added Castable class: #1634
- Added spdlog support as underlying logging framework: #1633
- Added custom memory allocators: #1636, #1637, #1639, #1645, #1646
- Added Stopwatch class to replace Timer: #1638
- Removed Boost dependency: #1648, #1651
Collision Detection
- Updated to use convex mesh of Bullet when possible: #1664, #1667
Dynamics
- Fixed setResitutionCoeff() calling setFrictionCoeff(): #1677
- Made inertial warnings optional when setting tensor: #1672
- Added deep copy for shapes: #1612
- Added iterator methods to container-like classes: #1644
- Fixed grouping of constraints: #1624, #1628
- Fixed issue with removing skeletons without shapes: #1625
- Added support for custom contact surface handlers: #1626
GUI
- Fixed depth testing for transparent objects: #1643
- Added depth rendering mode: #1652

Scientific Software - Peer-reviewed - C++
Published by jslee02 over 3 years ago

DART - DART 6.12.2

Build
- Fixed build with urdfdom 3.1.0 on Windows: #1675

Scientific Software - Peer-reviewed - C++
Published by jslee02 almost 4 years ago

DART - DART 6.12.1

Build
- Fixed bullet header include: #1620
dartpy
- Added Python bindings for Joint::getWrenchTo{Child|Parent}BodyNode: #1621

Scientific Software - Peer-reviewed - C++
Published by jslee02 over 4 years ago

DART - DART 6.12.0

API Breaking Changes
- DART 6.12.0 and later require compilers that support C++17: #1600
- Increased minimum CMake version to 3.10.2
- Increased minimum compiler versions to GCC 7.3.0, Clang 6.0, MSVC 16.0
- Dropped Ubuntu Xenial (16.04 LTS) support
Build
- Remove DARTBUILDDARTPY option: #1600
Dynamics
- Added joint force/torque getter: #1616
Parsers
- Added default options to DartLoader for missing properties in URDF files: #1605
- Allowed SdfParser to set default root joint type: #1617
GUI
- Updated ImGui to 1.84.2: #1608
dartpy
- Added Python bindings for ResourceRetriever and SdfParser: #1610

Scientific Software - Peer-reviewed - C++
Published by jslee02 over 4 years ago

DART - DART 6.11.1

Dynamics
- Fixed incorrect LCP construction in JointConstraint for multi-DOFs joints : #1597

Scientific Software - Peer-reviewed - C++
Published by jslee02 almost 5 years ago

DART - DART 6.11.0

Math
- Added Mesh, TriMesh, and Icosphere classes: #1579
Collision
- Fixed incorrect group-group collision checking for BulletCollisionDetector: #1585, #717
Dynamics
- Fixed servo motor doesn't respect joint position limits: #1587
GUI
- Fixed incorrect MultiSphereConvexHull rendering: #1579
- Use GLVND over the legacy OpenGL libraries: #1584
Build and testing
- Add DART_ prefix to macros to avoid potential conflicts: #1586

Scientific Software - Peer-reviewed - C++
Published by jslee02 almost 5 years ago

DART - DART 6.10.1

Dynamics
- Fixed inertia calculation of CapsuleShape: #1561
GUI
- Changed to protect OpenGL attributes shared by ImGui and OSG: #1558
- Changed to set backface culling by default: #1559
dartpy
- Added Python binding for BodyNode::getBodyForce(): #1563

Scientific Software - Peer-reviewed - C++
Published by jslee02 about 5 years ago

DART - DART 6.10.0

Common
- Removed use of boost::filesystem in public APIs: #1417
- Changed Signal to remove connection when they're being disconnected: #1462
Collision
- Added ConeShape support for FCLCollisionDetector: #1447
- Fixed segfault from raycast when no ray hit: #1461
- Added PyramidShape class: #1466
Kinematics
- Added IkFast parameter accessors to IkFast class: #1396
- Changed IkFast to wrap IK solutions into the joint limits for RevoluteJoint: #1452
- Added option to specify reference frame of TaskSpaceRegion: #1548
Dynamics
- Fixed friction and restitution of individual shapes in a body: #1369
- Fixed soft body simulation when command input is not reset: #1372
- Added joint velocity limit constraint support: #1407
- Added type property to constrain classes: #1415
- Allowed to set joint rest position out of joint limits: #1418
- Added secondary friction coefficient parameter: #1424
- Allowed to set friction direction per ShapeFrame: #1427
- Fixed incorrect vector resizing in BoxedLcpConstraintSolver: #1459
- Changed to increment BodyNode version when it's being removed from Skeleton: #1489
- Changed to print warning only once from BulletCollisionDetector::collide/distance: #1546
- Added force dependent slip: #1505
GUI
- Fixed memory leaks from dart::gui::osg::Viewer: #1349
- Added point rendering mode to PointCloudShape: #1351, #1355
- Updated ImGui to 1.71: #1362
- Updated ImGui to 1.79: #1498
- Fixed refresh of LineSegmentShapeNode: #1381
- Fixed OSG transparent object sorting: #1414
- Added modifier key support to ImGuiHandler: #1436
- Fixed mixed intrinsic and extrinsic camera parameters in OpenGL projection matrix: #1485
- Enabled mouse middle and right buttons in ImGuiHandler: #1500
Parser
- Allowed parsing SDF up to version 1.6: #1385
- Fixed SDF parser not creating dynamics aspect for collision shape: #1386
- Added root joint parsing option in URDF parser: #1399, #1406
- Enabled URDF parser to read visual and collision names: #1410
- Added (experimental) MJCF parser: #1416
dartpy
- Added raycast option and result: #1343
- Added GUI event handler: #1346
- Added shadow technique: #1348
- Added findSolution and solveAndApply to InverseKinematics: #1358
- Added InteractiveFrame and ImGui APIs: #1359
- Added bindings for Joint::getTransformFrom{Parent|Child}BodyNode(): #1377
- Added bindings for BodyNode::getChild{BodyNode|Joint}(): #1387
- Added bindings for Inertia: #1388
- Added bindings for getting all BodyNodes from a Skeleton: #1397
- Added bindings for background color support in osg viewer: #1398
- Added bindings for BallJoint::convertToPositions(): #1408
- Fixed typos in Skeleton: #1392
- Fixed enabling drag and drop for InteractiveFrame: #1432
- Added bindings for point cloud and contact retrieval: #1455
- Fixed TypeError from dartpy.dynamics.Node.getBodyNodePtr(): #1463
- Added pybind/eigen.h to DistanceResult.cpp for read/write of eigen types: #1480
- Added bindings for adding ShapeFrames to CollisionGroup: #1490
- Changed dartpy install command to make install-dartpy: #1503
- Added bindings for CollisionFilter, CollisionGroup, and Node: #1545
- Added bindings for TaskSpaceRegion: #1550
Build and testing
- Fixed compiler warnings from GCC 9.1: #1366
- Replaced M_PI with dart::math::constantsd::pi(): #1367
- Enabled octomap support on macOS: #1078
- Removed dependency on Boost::regex: #1412
- Added support new if() IN_LIST operator in DARTConfig.cmake: #1434
- Updated Findfcl.cmake to support FCL 0.6: #1441
- Added gtest macros for Eigen object comparisons: #1443
- Removed gccfilter: #1464
- Allowed to set CMAKEINSTALLPREFIX on Windows: #1478
- Enforced to use OpenSceneGraph 3.7.0 or greater on macOS Catalina: #1479
- Fixed compatibility with clang-cl: #1509
- Fixed MSVC linking for assimp and fcl: #1510
- Fixed AspectWithState-relate compile error on Windows: #1528
- Made dart.pc relocatable: #1529
- Added CI for multiple Linux platforms: arm64 and ppc64le: #1531
- Fixed Aspect/Composite-relate tests on Windows/MSVC: #1541, #1542
- Added DART_SKIP_<dep>_advanced option: #1529
- Replaced OpenGL dependency variables with targets: #1552
Documentation
- Updated tutorial documentation and code to reflect new APIs: #1481

Scientific Software - Peer-reviewed - C++
Published by jslee02 about 5 years ago

DART - DART 6.9.5

Added Ipopt >= 3.13 support: #1506

Scientific Software - Peer-reviewed - C++
Published by jslee02 over 5 years ago

DART - DART 6.9.4

Build
- Added support new if() IN_LIST operator in DARTConfig.cmake (6.9 backport): #1494

Scientific Software - Peer-reviewed - C++
Published by jslee02 almost 6 years ago

DART - DART 6.9.3

Dynamics
- Changed to update the Properties version of a BodyNode when moved to a new Skeleton: #1445
- Fixed incorrect implicit joint damping/spring force computation in inverse dynamics: #1451

Scientific Software - Peer-reviewed - C++
Published by jslee02 almost 6 years ago

DART - DART 6.9.2

Dynamics
- Allowed constraint force mixing > 1: #1371

Scientific Software - Peer-reviewed - C++
Published by jslee02 almost 7 years ago

DART - DART 6.9.1

Collision
- Added default constructor to RayHit: #1345
dartpy
- Updated build scripts for uploading dartpy to PyPI: #1341

Scientific Software - Peer-reviewed - C++
Published by jslee02 almost 7 years ago