DART 6.16.7

This is a patch release for the 6.16 LTS line, adding assimp 6 support and additional safety guards for non-finite transforms.

• Build

  • Added support for assimp 6.x while maintaining backward compatibility with assimp 5.x: #2510

• Dynamics

  • Reject non-finite transforms at Joint public API entry points and guard inertia propagation in kinematic joint variants: #2497

• Math

  • Enhance verifyTransform to also reject infinity values (previously only checked NaN): #2497

• Optimizer

  • Validate Problem and MultiObjectiveProblem dimension to prevent excessive allocation from huge inputs: #2503

• Parsers

  • Replace MJCF parser DART_ASSERT with DART_WARN + identity fallback for non-finite transforms and rotations: #2497

DART 6.16.6

This is a patch release for the 6.16 LTS line, fixing warning spam and crash guards.

• Constraint

  • Fix slip compliance validation to silently handle the -1.0 sentinel value (meaning "use default") instead of logging spurious warnings: gz-sim#3289

• Dynamics

  • Guard against non-finite articulated body computations from zero/epsilon mass or extreme spring values: gz-physics#849, gz-physics#850, gz-physics#851, gz-physics#854, gz-physics#856

DART 6.16.5

This is a patch release for the 6.16 LTS line, focused on crash fixes in constraints, dynamics, and parsers.

• Constraint

  • Fix crash when joint limits are invalid (lower > upper) by emitting a warning and skipping limit enforcement: gz-physics#846

  • Validate contact surface parameters to prevent LCP solver crashes: #2435

• Dynamics

  • Validate SphereShape radius to prevent assertion failures with NaN/Inf/non-positive values: #2441

• Parsers

  • Fix null pointer dereference in XmlHelpers getValue* functions: #2429

DART 6.16.4

• Physics

  • Fix ODE box-cylinder contact stability with libccd: #2389
  • Fix ODE cylinder mesh fallback on FreeBSD: #2388

• Parsers

  • Fix URDF shape parsing on FreeBSD: #2379

• Tooling and Docs

  • Add Alt Linux repro tasks: #2381
  • Add FreeBSD VM repro patches: #2374
  • Update pixi lockfile: #2377
  • Fix cache Docker CI for release-6.16: #2362

DART 6.16.3

• Collision

  • Fix Bullet double-precision includes on release-6.16: #2334

• Tooling and Docs

  • Fix pixi ex example selection: f716548

DART 6.16.2

• Build

  • Remove DART_BUILD_MODE_DEBUG guards to fix NDEBUG compilation: #2326
  • Use package.xml version for dartpy packaging: #2327

• Tests

  • Stabilize World::Cloning in asserts-enabled CI: #2331

• Tooling and Docs

  • Cover asserts-enabled build and fix API docs PR ref: #2330
  • Fix publish_dartpy workflow YAML: #2329
  • Fix manual publish validation on Windows: #2324
  • Restrict manual dartpy publishing to tags: #2323
  • Fix dartpy PyPI publishing on release-6.16: #2322
  • Update pixi lockfile: #2335, #2307

DART 6.16.1

DART 6.16.1 is a patch release for the 6.16 LTS line.

Fixed

• Fix FreeListAllocator assertions when building without NDEBUG (e.g., Ubuntu 24.04 / GCC 13): #2295

DART 6.16.0

DART 6.16.0 keeps the 6.x LTS line current with the servo-limit fixes and tooling/pixi improvements that landed after 6.15.0.

Highlights

• Servo joints now recover gracefully from hitting position limits, preventing the lock-ups reported in Gazebo/gz-sim (#2086).
• All remaining raw assert calls were replaced with DART_ASSERT to keep diagnostics consistent in release builds (#2117).
• Build fixes:
  • pybind11 detection and assert include handling were hardened for pixi builds (#2118).
  • Eigen guard backported so 3.4+ builds keep working on the release branch (#2108).
  • New toggles let you opt into system Tracy, pybind11, and GoogleBenchmark as needed (#1911, #1907, #1904).
  • Absolute install dir handling corrected for CMake exports (#2006).
• Tooling & docs:
  • Coverage, API docs, and the gz-physics CI job now run completely through pixi tasks (#2036, #2032, #2034).
  • macOS CI installs OpenSceneGraph from source to avoid flaky builds (#2037).
  • Documentation was reorganized so the Python and C++ paths are clearly separated (#2040), and gz-physics integration tests are now part of CI (#2000).

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

Installation / Build

See the README for package availability and build instructions. To build from source with pixi:

pixi run build
pixi run build-dartpy        # optional: Python bindings
pixi run test                # C++ tests
pixi run test-py             # python/dartpy tests
pixi run -e gazebo test-gz   # gazebo compatibility test suite

Thanks

Thanks to everyone who reported issues, reviewed PRs, and helped chase down the joint-limit and pixi regressions. Enjoy 6.16.0!

DART 6.15.0

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

DART v6.14.5

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