« Changelog History


DART v2.4 Release Notes

Release Date: 2013-03-05 // about 11 years ago
    1. Mass and inertia are no longer stored in Shape but in BodyNode.
    2. Different shapes for collision and visualization (not just different meshes)
    3. Shapes are no longer centered at the COM but can be transformed independently relative to the link frame. 👍 1. Improved URDF support
      • Support for non-mesh shapes
      • Does not create dummy root nodes anymore
      • Support for continuous joints
      • Support for arbitrary joint axes for revolute joints (but not for prismatic joints) instead of only axis-aligned joint axes
      • Support for relative mesh paths even if the robot and world URDF files are in different directories
      • All supported joint types can be root joints
    4. Clean-up of the Robot class 🚚 1. Removed Object class 🐧 1. More robust build and installation process on Linux