DART v6.9.0 Release Notes

Release Date: 2019-05-27 // over 2 years ago

    Common

    - Deprecated custom make_unique in favor of std::make_unique: #1317

    Collision Detection

    - Added raycast query to BulletCollisionDetector: #1309

    Dynamics

    - Added safeguard for accessing Assimp color: #1313

    📜 Parser

    - Changed URDF parser to use URDF material color when specified: #1295

    GUI

    • Added heightmap support to OSG renderer: #1293
    • Improved voxel grid and point cloud rendering performance: #1294
    • Fixed incorrect alpha value update of InteractiveFrame: #1297
    • Fixed dereferencing a dangling pointer in WorldNode: #1311
    • Removed warning of ImGuiViewer + OSG shadow: #1312
    • Added shape type and color options to PointCloudShape: #1314, #1316
    • Fixed incorrect transparency of MeshShape for MATERIAL_COLOR mode: #1315
    • Fixed incorrect PointCloudShape transparency: #1330

    - Improved voxel rendering by using multiple nodes instead of CompositeShape: #1334

    Examples and Tutorials

    - Updated examples directory to make dart::gui::osg more accessible: #1305

    dartpy

    • Switched to pybind11: #1307
    • Added grid visual: #1318
    • Added ReferentialSkeleton, Linkage, and Chain: #1321
    • Enabled WorldNode classes to overload virtual functions in Python: #1322
    • Added JacobianNode and operational space controller example: #1323
    • Removed static create() functions in favor of custom constructors: #1324
    • Added optimizer APIs with GradientDescentSolver and NloptSolver: #1325
    • Added SimpleFrame: #1326
    • Added basic inverse kinematics APIs: #1327
    • Added shapes and ShapeFrame aspects: #1328
    • Added collision APIs: #1329
    • Added DegreeOfFreedom and ShapeNode: #1332
    • Added constraint APIs: #1333
    • Added BallJoint, RevoluteJoint, joint properties, and chain tutorial (incomplete): #1335
    • Added all the joints: #1337
    • Added DART, Bullet, Ode collision detectors: #1339