DART v6.14.0

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: v6.13.2...v6.14.0