dartsim/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 CMAKE_INSTALL_PREFIX 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