# DART Changelog

## DART 6

### [DART 6.19.4 (2026-07-18)](https://github.com/dartsim/dart/milestone/103?closed=1)

DART 6.19.4 is a focused patch release on the DART 6 LTS line. It restores
source builds that disable the OpenSceneGraph GUI component and makes that
optional-dependency contract deterministic in CI. The only additional
maintenance change ignores local `.omx/` state.

* Build

  * Keep source builds configurable without OpenSceneGraph when
    `DART_BUILD_GUI_OSG=OFF` by skipping the OSG-only dynamic-joint-constraints
    example before it requests `osgText`. The ASan configuration now disables
    OpenSceneGraph discovery so CI fails if this dependency becomes mandatory
    again:
    [#3391](https://github.com/dartsim/dart/pull/3391),
    [#3387](https://github.com/dartsim/dart/issues/3387)

* Tooling and Docs

  * Ignore local `.omx/` state so it is not accidentally committed:
    [#3391](https://github.com/dartsim/dart/pull/3391)

### [DART 6.19.3 (2026-06-27)](https://github.com/dartsim/dart/milestone/101?closed=1)

DART 6.19.3 is a patch release on the DART 6 LTS line. It hardens contact
handling against invalid geometry and silences an fmt 12.2 deprecation warning
that leaked through DART's logging headers, both addressing issues reported
through gz-physics. It also recovers from two upstream toolchain regressions,
restoring the Linux Python wheels and compilation on the latest Clang.

* Simulation

  * Reject invalid shape geometry and non-finite contacts instead of crashing.
    `BoxShape`, `CylinderShape`, `CapsuleShape`, `EllipsoidShape`, `ConeShape`,
    and `PyramidShape` now reject non-finite (NaN/Inf) or non-positive
    dimensions, matching `SphereShape`, and `ConstraintSolver` drops any contact
    whose point, normal, or penetration depth is non-finite before building a
    contact constraint. Together these keep a bad shape dimension or a
    non-finite contact (from a mesh or a collision backend) from tripping the
    `ContactConstraint` `mSpatialNormalA` assertion or feeding NaN/Inf into the
    LCP solve:
    [#3117](https://github.com/dartsim/dart/pull/3117),
    [gazebosim/gz-physics#1010](https://github.com/gazebosim/gz-physics/issues/1010)

* Build

  * Stop an fmt 12.2 deprecation warning from leaking out of DART's header-only
    logging. spdlog's variadic `log()` routes the format string through a
    `fmt::format_string` -> `string_view` conversion that fmt 12.2.0 deprecated,
    so the warning surfaced in every downstream that instantiates DART logging.
    DART now pre-formats the message and hands spdlog a ready-made string:
    [#3201](https://github.com/dartsim/dart/pull/3201),
    [gazebosim/gz-physics#1018](https://github.com/gazebosim/gz-physics/issues/1018)

  * Restore the Linux `manylinux` Python wheels. The wheel build installs the
    newest CMake at build time, and CMake 4.3.4 stopped detecting `freeglut3`
    in the build container, which dropped the `dart-gui` target the dartpy wheel
    links and broke configuration. The build now caps CMake below 4.3.4 until a
    fixed release ships:
    [#3197](https://github.com/dartsim/dart/pull/3197)

  * Compile cleanly on the latest Clang. Recent Clang (such as the current
    `macos-latest` image) rejects the deprecated whitespace form of
    user-defined-literal operators under `-Werror`, so the `_pi`, `_rad`, and
    `_deg` suffixes now use the non-deprecated `operator""_x` spelling:
    [#3197](https://github.com/dartsim/dart/pull/3197)

### [DART 6.19.2 (2026-06-19)](https://github.com/dartsim/dart/milestone/100?closed=1)

DART 6.19.2 is a patch release on the DART 6 LTS line. It keeps automatic
sleeping enabled while adding regression coverage for the gz-sim wheel-command
path and extending Gazebo validation to cover the downstream gz-sim failure
reported against DART 6.19.1.

* Tests

  * Cover servo-commanded sleeping bodies against an always-awake baseline, and
    extend the Gazebo validation task to apply the gz-physics
    `ChangedWorldPoses` root-cause patch before running gz-sim's
    `INTEGRATION_entity_system` regression against the source-built DART 6
    plugin:
    [#3068](https://github.com/dartsim/dart/pull/3068),
    [gazebosim/gz-sim#3697](https://github.com/gazebosim/gz-sim/issues/3697)

### [DART 6.19.1 (2026-06-17)](https://github.com/dartsim/dart/milestone/98?closed=1)

* Simulation

  * Preserve the last solved contact body-force cache when an island first
    transitions into automatic deactivation, so joint transmitted-wrench
    queries continue to include contact forces while the island is asleep:
    [#3051](https://github.com/dartsim/dart/pull/3051),
    [gazebosim/gz-physics#1007](https://github.com/gazebosim/gz-physics/issues/1007)

* Performance

  * Speed up the articulated-body forward-dynamics hot path by caching the
    owning `Skeleton` pointer in `BodyNode` and avoiding fixed-size to dynamic
    Eigen temporaries in `math::isNan` and `math::isInf`, improving the
    `BM_Dynamics` benchmark by about 18% while preserving bit-exact results:
    [#3028](https://github.com/dartsim/dart/pull/3028)

  * Remove per-pivot heap allocations in `ContactConstraint` by evaluating
    spatial-normal matrix-vector products directly into the solver buffers,
    reducing contact-heavy `boxes` per-step heap allocations by about 58% and
    improving wall-clock time by about 6% with bit-exact results:
    [#3033](https://github.com/dartsim/dart/pull/3033)

  * Avoid heap temporaries in `BodyNode` force-aggregation routines by writing
    Jacobian-transpose products directly into Skeleton tree-cache segments:
    [#3037](https://github.com/dartsim/dart/pull/3037)

  * Reduce remaining contact-heavy per-step heap allocations by scanning
    external disturbances per DOF and storing contact spatial normals inline,
    cutting `boxes` heap allocations by about 38% on top of the earlier
    allocation reductions while preserving bit-exact finite-state results:
    [#3040](https://github.com/dartsim/dart/pull/3040)

* Tests

  * Build and run the pinned gz-physics test suite in the DART 6 Gazebo CI gate
    instead of only checking that the plugin links, and add macOS x64/arm64
    coverage so downstream Homebrew regressions are caught before release:
    [#3050](https://github.com/dartsim/dart/pull/3050),
    [gazebosim/gz-physics#1007](https://github.com/gazebosim/gz-physics/issues/1007)

  * Cover the sleep-transition wrench-cache regression paths, including the
    final contact impulse before sleep, non-candidate wakeup, and stale
    constraint-island index handling:
    [#3055](https://github.com/dartsim/dart/pull/3055)

  * Loosen the `Issue1184` resting-accuracy regression tolerance from `1e-3` to
    `2e-3` so it is not flipped by micrometer-scale cross-platform
    floating-point differences in the steady-state contact penetration (~1 mm),
    which sat exactly on the old bound; fixes the macOS build of the
    conda-forge feedstock:
    [#3031](https://github.com/dartsim/dart/pull/3031)

### [DART 6.19.0 (2026-06-14)](https://github.com/dartsim/dart/milestone/97?closed=1)

DART 6.19.0 is a minor release on the DART 6 LTS line. It adds automatic body
deactivation ("sleeping"), contact-aware inverse dynamics, and a cylindrical
dynamic joint constraint, together with a constraint-solver hot-path
optimization and build/example fixes for modern toolchains.

* Build

  * Include `<cassert>` before the FCL headers in the FCL compatibility shim so
    DART builds against Eigen 5 and current GCC/Clang toolchains, which no
    longer pull `<cassert>` in transitively (FCL's shape headers call `assert`
    without including it): [#3021](https://github.com/dartsim/dart/pull/3021)

* Constraint

  * Add `CylindricalJointConstraint` for runtime slide-and-rotate attachments
    that leave translation along an axis and rotation about that axis free,
    with headless and GUI examples covering DART 6.x dynamic joint constraints:
    [#2923](https://github.com/dartsim/dart/pull/2923)

  * Optimize the DART 6 constraint-solver hot path (box-stacking benchmarks
    ~1.28x faster) with bit-exact results, adding a lightweight profiling-scope
    helper used to measure it:
    [#3023](https://github.com/dartsim/dart/pull/3023)

* Dynamics

  * Add `ContactInverseDynamics` and `math::solveNonNegativeLeastSquares` to
    compute joint torques together with friction-cone-consistent contact
    forces for tracked motions with contacts, so floating-base inverse
    dynamics no longer requires an external QP solver, with unit tests,
    benchmarks, dartpy bindings for `ContactInverseDynamics` (the
    `math::solveNonNegativeLeastSquares` solver is C++-only), and an ImGui-based
    GUI example: [#2985](https://github.com/dartsim/dart/pull/2985)

* Examples and Tutorials

  * Enlarge the floor and add an FPS / physics real-time-factor HUD to the
    `glut_add_delete_skels` example, so spawned cubes keep room on the ground
    and the effect of adding skeletons on real-time performance is visible:
    [#3019](https://github.com/dartsim/dart/pull/3019)

* GUI

  * Fix every GLUT example failing to open a window on modern Mesa/Xwayland:
    the shared GLUT window no longer requests a legacy, now-unavailable
    accumulation buffer, selecting the framebuffer with a relaxable
    `glutInitDisplayString` instead, while `MotionBlurSimWindow` opts back into
    an accumulation buffer on its own:
    [#3017](https://github.com/dartsim/dart/pull/3017)

* Simulation

  * Add automatic body deactivation ("sleeping") for resting solver islands,
    including wake-on-contact/force handling and island-index diagnostics. It is
    enabled by default, so resting bodies now freeze automatically; the
    detection is a deterministic no-op while bodies are active, and it can be
    turned off via `World::setDeactivationOptions` to retain the previous
    always-active behavior: [#2920](https://github.com/dartsim/dart/pull/2920)

### [DART 6.18.0 (2026-06-05)](https://github.com/dartsim/dart/milestone/94?closed=1)

DART 6.18.0 is a minor release on the DART 6 LTS line. It adds two contact and
constraint robustness improvements surfaced through gz-physics, so resting
capsules/cylinders and non-axis-aligned closed kinematic chains behave correctly
on the classic DART 6 API.

* Collision

  * Stabilize ODE capsule and cylinder resting contacts with a per-pair contact-history manifold (invalidated on sliding and kinematic pose changes) so they no longer sink through the supporting surface: [#2902](https://github.com/dartsim/dart/pull/2902), [gazebosim/gz-physics#692](https://github.com/gazebosim/gz-physics/issues/692)

* Constraint

  * Regularize rank-deficient closed-loop constraints with an additive Constraint Force Mixing floor on the `BallJointConstraint`/`WeldJointConstraint` loop-closure constraints, so non-axis-aligned closed kinematic chains stay enforced instead of drifting open: [#2903](https://github.com/dartsim/dart/pull/2903), [gazebosim/gz-physics#719](https://github.com/gazebosim/gz-physics/issues/719)

### [DART 6.17.1 (2026-06-05)](https://github.com/dartsim/dart/milestone/95?closed=1)

DART 6.17.1 is a patch release on the DART 6 LTS line. It hardens the classic
DART 6 API against non-finite and degenerate inputs surfaced through gz-physics,
so invalid SDF data degrades gracefully (with a warning) instead of aborting.

* Collision

  * Clamp the ODE heightfield extents, vertical scale, and bounds so an extreme `HeightmapShape` scale no longer aborts `dCollideHeightfield`: [#2894](https://github.com/dartsim/dart/pull/2894), [gazebosim/gz-physics#847](https://github.com/gazebosim/gz-physics/issues/847)

* Dynamics

  * Validate `HeightmapShape` scale and height-field values, rejecting non-finite and non-positive inputs: [#2884](https://github.com/dartsim/dart/pull/2884), [gazebosim/gz-physics#847](https://github.com/gazebosim/gz-physics/issues/847)
  * Reject non-finite mass and moment of inertia at the `Inertia` ingest boundary: [#2885](https://github.com/dartsim/dart/pull/2885), [gazebosim/gz-physics#854](https://github.com/gazebosim/gz-physics/issues/854)
  * Initialize `Inertia` to a valid state before applying a rejected moment, and check only the consumed inertia entries: [#2898](https://github.com/dartsim/dart/pull/2898)

* Common

  * Demote the duplicate-name auto-rename message to debug verbosity: [#2895](https://github.com/dartsim/dart/pull/2895), [gazebosim/gz-physics#725](https://github.com/gazebosim/gz-physics/issues/725)

* Build

  * Use pixi for the DART 6 Windows wheel dependencies: [#2882](https://github.com/dartsim/dart/pull/2882)

### [DART 6.17.0 (2026-06-03)](https://github.com/dartsim/dart/milestone/85?closed=1)

DART 6.17.0 is a maintenance release on the DART 6 LTS compatibility line. It
backports bug fixes and additive improvements to the classic DART 6 API that were
made on `main` during DART 7 development, so that DART 6 and gz-physics users
receive them before the DART 7 clean break removes the legacy API from `main`.

* GUI

  * Fix `RealTimeWorldNode` stalling when the viewer lags behind real time: [#2088](https://github.com/dartsim/dart/pull/2088)

* Collision

  * Preserve the minimum pair distance in FCL distance queries: [#2243](https://github.com/dartsim/dart/pull/2243), [#1539](https://github.com/dartsim/dart/issues/1539)
  * Fix plane collision handling for the Bullet and FCL backends: [#2246](https://github.com/dartsim/dart/pull/2246)
  * Fix an FCL mesh contact regression: [#2258](https://github.com/dartsim/dart/pull/2258)
  * Fix Bullet ellipsoid rolling by using primitive sphere/ellipsoid shapes: [#2274](https://github.com/dartsim/dart/pull/2274)
  * Handle non-`Skeleton` `MetaSkeleton` subscriptions in `CollisionGroup` without crashing: [#2277](https://github.com/dartsim/dart/pull/2277)
  * Stabilize FCL contact normals and make collision ordering deterministic: [#2282](https://github.com/dartsim/dart/pull/2282)
  * Guard the body-node collision filter against missing body nodes: [#2343](https://github.com/dartsim/dart/pull/2343)
  * Add `Contact` accessors for the shape frame, shape node, and body node: [#2245](https://github.com/dartsim/dart/pull/2245)
  * Fix memory leaks and a use-after-free in the Bullet collision backend: [#2101](https://github.com/dartsim/dart/pull/2101)
  * Fix a Bullet collision-detection correctness issue: [#2091](https://github.com/dartsim/dart/pull/2091)
  * Fix ODE `HeightmapShape` visual/collision mismatch and a dangling-pointer bug: [#2305](https://github.com/dartsim/dart/pull/2305)

* Constraint

  * Recover finite Dantzig LCP solutions instead of zeroing the result when only some entries are NaN: [#2253](https://github.com/dartsim/dart/pull/2253)

* Dynamics

  * Compute `BodyNode` potential energy from the center of mass: [#2224](https://github.com/dartsim/dart/pull/2224)
  * Add `BodyNode` world-transform derivative APIs: [#2131](https://github.com/dartsim/dart/pull/2131)
  * Preserve Collada unit scaling in `MeshShape`: [#2152](https://github.com/dartsim/dart/pull/2152)
  * Add debug assertions for non-finite joint inputs: [#2273](https://github.com/dartsim/dart/pull/2273)
  * Emit collision-shape added/removed signals on shape changes: [#2250](https://github.com/dartsim/dart/pull/2250)
  * Deep-copy shapes when cloning skeletons: [#2239](https://github.com/dartsim/dart/pull/2239), [#896](https://github.com/dartsim/dart/issues/896)
  * Add `PlanarJoint` SE(2) conversion helpers: [#2231](https://github.com/dartsim/dart/pull/2231)
  * Fix joint impulse statefulness by moving impulse state into `GenericJointState`: [#2308](https://github.com/dartsim/dart/pull/2308)
  * Add a state-independent `Joint::integratePositions` overload: [#2309](https://github.com/dartsim/dart/pull/2309)
  * Validate negative physics parameters at runtime instead of asserting: [#2431](https://github.com/dartsim/dart/pull/2431)
  * Clear stale joint commands when the actuator type changes: [#2098](https://github.com/dartsim/dart/pull/2098)
  * Fix the `FreeJoint` world Jacobian translation: [#2298](https://github.com/dartsim/dart/pull/2298)

* Parsers

  * Enforce SDF joint position limits when finite: [#2232](https://github.com/dartsim/dart/pull/2232)
  * Handle tiny/degenerate SDF inertial data and warn on missing `<inertial>`: [#2284](https://github.com/dartsim/dart/pull/2284)

* Common

  * Fix `Signal` thread-safety regressions: [#2181](https://github.com/dartsim/dart/pull/2181)
  * Add `StlAllocator::max_size` and make `deallocate` `noexcept`: [#2287](https://github.com/dartsim/dart/pull/2287)
  * Fix `Aspect` lifecycle when an aspect is replaced: [#2304](https://github.com/dartsim/dart/pull/2304)
  * Make `CloneableMap` copy null-safe: [#2358](https://github.com/dartsim/dart/pull/2358)

* Build

  * Prefer the prefix-local Vulkan loader for the ImGui example: [#2085](https://github.com/dartsim/dart/pull/2085)
  * Allow configuring (or disabling) the examples install destination: [#2100](https://github.com/dartsim/dart/pull/2100)
  * Register `dart::utils` parser sources correctly in CMake: [#2314](https://github.com/dartsim/dart/pull/2314)

### [DART 6.16.8 (2026-05-31)](https://github.com/dartsim/dart/milestone/93?closed=1)

* GUI

  * Fix SEGV in ImFontAtlas::AddFontFromMemoryCompressedTTF when null pointer is passed as compressed font data: [#2516](https://github.com/dartsim/dart/issues/2516)
  * Fix `ImGui::ColorPicker3`/`ColorPicker4` crashes when called without an active ImGui context or window: [#2668](https://github.com/dartsim/dart/issues/2668)
  * Use modern ImGui modifier key names in the OSG ImGui handler for newer ImGui builds. ([#2526](https://github.com/dartsim/dart/pull/2526))

* Constraint

  * Ignore malformed contacts with null collision objects instead of dereferencing them while creating `ContactConstraint`: [#2669](https://github.com/dartsim/dart/issues/2669)

  * Hide bundled ImGui internal formatting helpers from shared library exports: [#2671](https://github.com/dartsim/dart/issues/2671)

* Parsers

  * Return safe defaults from XML attribute helpers when callers pass a null element: [#2678](https://github.com/dartsim/dart/issues/2678)

* Utils

  * Reject mismatched C3D frame or marker counts in `saveC3DFile()` instead of indexing past point data: [#2681](https://github.com/dartsim/dart/issues/2681)

* Common

  * Fix iterator invalidation in Subject/Observer notification loops that caused non-deterministic SEGFAULT on macOS arm64 Debug builds

  * Fix spdlog/fmt 12 builds by treating DART logging format parameters as runtime format strings. ([#2540](https://github.com/dartsim/dart/pull/2540), [#2538](https://github.com/dartsim/dart/issues/2538))

  * Fix PoolAllocator leaking old memory block tables when the table grows. ([#2646](https://github.com/dartsim/dart/pull/2646))

* Simulation

  * Reject NaN, infinite, zero, and negative `World::setTimeStep()` values to prevent invalid timesteps from reaching the ODE LCP solver. ([#2532](https://github.com/dartsim/dart/pull/2532), [#2531](https://github.com/dartsim/dart/issues/2531))

* Tooling and Docs

  * Improve FreeBSD VM CI startup resilience with a release image URL, fallback image downloads, a longer SSH readiness window, fresh VM container startup, KVM group propagation, retry handling, and startup diagnostics. ([#2532](https://github.com/dartsim/dart/pull/2532))
  * Remove duplicate `.gitignore` entries. ([#2735](https://github.com/dartsim/dart/pull/2735))
  * Update Pixi lockfiles for current conda-forge package builds. ([#2766](https://github.com/dartsim/dart/pull/2766), [#2780](https://github.com/dartsim/dart/pull/2780))

### [DART 6.16.7 (2026-02-10)](https://github.com/dartsim/dart/milestone/92?closed=1)

* Build

  * Added support for assimp 6.x while maintaining backward compatibility with assimp 5.x: [#2510](https://github.com/dartsim/dart/pull/2510)

* Dynamics

  * Reject non-finite transforms at Joint public API entry points and guard inertia propagation in kinematic joint variants: [#2497](https://github.com/dartsim/dart/pull/2497)

* Math

  * Enhance verifyTransform to also reject infinity values (previously only checked NaN): [#2497](https://github.com/dartsim/dart/pull/2497)

* Optimizer

  * Validate Problem and MultiObjectiveProblem dimension to prevent excessive allocation from huge inputs: [#2503](https://github.com/dartsim/dart/pull/2503)

* Parsers

  * Replace MJCF parser DART_ASSERT with DART_WARN + identity fallback for non-finite transforms and rotations: [#2497](https://github.com/dartsim/dart/pull/2497)

### [DART 6.16.6 (2026-01-28)](https://github.com/dartsim/dart/milestone/91?closed=1)

* Constraint

  * Fix slip compliance validation to silently handle the -1.0 sentinel value (meaning "use default") instead of logging spurious warnings: [gz-sim#3289](https://github.com/gazebosim/gz-sim/issues/3289)

* Dynamics

  * Guard against non-finite articulated body computations from zero/epsilon mass or extreme spring values: [gz-physics#849](https://github.com/gazebosim/gz-physics/issues/849), [gz-physics#850](https://github.com/gazebosim/gz-physics/issues/850), [gz-physics#851](https://github.com/gazebosim/gz-physics/issues/851), [gz-physics#854](https://github.com/gazebosim/gz-physics/issues/854), [gz-physics#856](https://github.com/gazebosim/gz-physics/issues/856)

### [DART 6.16.5 (2026-01-21)](https://github.com/dartsim/dart/milestone/90?closed=1)

* Constraint

  * Fix crash when joint limits are invalid (lower > upper) by emitting a warning and skipping limit enforcement: [gz-physics#846](https://github.com/gazebosim/gz-physics/issues/846)

  * Validate contact surface parameters to prevent LCP solver crashes: [#2435](https://github.com/dartsim/dart/pull/2435)

  * Warn and continue when the boxed LCP matrix is non-symmetric to avoid assertion failures with invalid contacts: [gz-physics#848](https://github.com/gazebosim/gz-physics/issues/848)

* Dynamics

  * Validate SphereShape radius to prevent assertion failures with NaN/Inf/non-positive values: [#2441](https://github.com/dartsim/dart/pull/2441)

* Parsers
  * Fix null pointer dereference in XmlHelpers getValue* functions: [#2429](https://github.com/dartsim/dart/pull/2429)

### [DART 6.16.4 (2026-01-06)](https://github.com/dartsim/dart/milestone/89?closed=1)

* Physics
  * Fix ODE box-cylinder contact stability with libccd: [#2389](https://github.com/dartsim/dart/pull/2389)
  * Fix ODE cylinder mesh fallback on FreeBSD: [#2388](https://github.com/dartsim/dart/pull/2388)

* Parsers
  * Fix URDF shape parsing on FreeBSD: [#2379](https://github.com/dartsim/dart/pull/2379)

* Tooling and Docs
  * Simplify copyright headers to first publication year (REUSE compliance): [#2439](https://github.com/dartsim/dart/pull/2439)
  * Add Alt Linux repro tasks: [#2381](https://github.com/dartsim/dart/pull/2381)
  * Add FreeBSD VM repro patches: [#2374](https://github.com/dartsim/dart/pull/2374)
  * Update pixi lockfile: [#2377](https://github.com/dartsim/dart/pull/2377)
  * Fix cache Docker CI for release-6.16: [#2362](https://github.com/dartsim/dart/pull/2362)

### [DART 6.16.3 (2025-12-31)](https://github.com/dartsim/dart/milestone/88?closed=1)

* Collision
  * Fix Bullet double-precision includes on release-6.16: [#2334](https://github.com/dartsim/dart/pull/2334)

* Tooling and Docs
  * Fix pixi ex example selection: [f716548](https://github.com/dartsim/dart/commit/f7165480d66)

### [DART 6.16.2 (2025-12-20)](https://github.com/dartsim/dart/milestone/87?closed=1)

* Build
  * Remove DART_BUILD_MODE_DEBUG guards to fix NDEBUG compilation: [#2326](https://github.com/dartsim/dart/pull/2326)
  * Use package.xml version for dartpy packaging: [#2327](https://github.com/dartsim/dart/pull/2327)

* Tests
  * Stabilize World::Cloning in asserts-enabled CI: [#2331](https://github.com/dartsim/dart/pull/2331)

* Tooling and Docs
  * Cover asserts-enabled build and fix API docs PR ref: [#2330](https://github.com/dartsim/dart/pull/2330)
  * Fix publish_dartpy workflow YAML: [#2329](https://github.com/dartsim/dart/pull/2329)
  * Fix manual publish validation on Windows: [#2324](https://github.com/dartsim/dart/pull/2324)
  * Restrict manual dartpy publishing to tags: [#2323](https://github.com/dartsim/dart/pull/2323)
  * Fix dartpy PyPI publishing on release-6.16: [#2322](https://github.com/dartsim/dart/pull/2322)
  * Update pixi lockfile: [#2335](https://github.com/dartsim/dart/pull/2335), [#2307](https://github.com/dartsim/dart/pull/2307)

### [DART 6.16.1 (2025-12-12)](https://github.com/dartsim/dart/milestone/86?closed=1)

* Build
  * Fix FreeListAllocator assertions when building without NDEBUG (e.g., Ubuntu 24.04 GCC 13): [#2295](https://github.com/dartsim/dart/pull/2295)

### [DART 6.16.0 (2025-11-09)](https://github.com/dartsim/dart/milestone/83?closed=1)

* 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

* Simulation
  * Allow servo joints to recover from position limits: [#2086](https://github.com/dartsim/dart/pull/2086)
  * Fix passive joint commands to respect joint actuation limits: [#1997](https://github.com/dartsim/dart/pull/1997)

* Core
  * Replace legacy `assert` macros with `DART_ASSERT` on release-6.16 (backport of #2109): [#2117](https://github.com/dartsim/dart/pull/2117)

* Build
  * Fix pybind11 detection and assert include handling with pixi builds: [#2118](https://github.com/dartsim/dart/pull/2118)
  * Port Eigen compatibility guard to keep 3.4+ builds working on release-6.16: [#2108](https://github.com/dartsim/dart/pull/2108)
  * Add `DART_USE_SYSTEM_TRACY`, `DART_USE_SYSTEM_PYBIND11`, and `DART_USE_SYSTEM_GOOGLEBENCHMARK` toggles: [#1911](https://github.com/dartsim/dart/pull/1911), [#1907](https://github.com/dartsim/dart/pull/1907), [#1904](https://github.com/dartsim/dart/pull/1904)
  * Fix absolute install directory handling in CMake exports: [#2006](https://github.com/dartsim/dart/pull/2006)

* Tooling and Docs
  * Use system `googletest` and `googlebenchmark` in pixi environments and upgrade bundled dependencies: [#1905](https://github.com/dartsim/dart/pull/1905)
  * Switch coverage and API docs workflows to pixi tasks and GitHub Pages deploy actions: [#2036](https://github.com/dartsim/dart/pull/2036), [#2032](https://github.com/dartsim/dart/pull/2032)
  * Install OpenSceneGraph from source on macOS builds to avoid flaky CI: [#2037](https://github.com/dartsim/dart/pull/2037)
  * Restructure documentation to clearly separate C++ and Python guidance: [#2040](https://github.com/dartsim/dart/pull/2040)
  * Add pixi-powered developer tasks (including Python workflows) and refresh GitHub templates: [#2034](https://github.com/dartsim/dart/pull/2034), [#2039](https://github.com/dartsim/dart/pull/2039)
  * Add gz-physics integration tests to CI to guard the public plugin: [#2000](https://github.com/dartsim/dart/pull/2000)

### [DART 6.15.0 (2024-11-15)](https://github.com/dartsim/dart/milestone/77?closed=1)

* 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](https://github.com/dartsim/dart/pull/1872)
  * Added nlopt 2.9.0 support: [#1875](https://github.com/dartsim/dart/pull/1875)
  * Fixed imgui is not added as transitive dependency: [#1877](https://github.com/dartsim/dart/pull/1877)

### [DART 6.14.5 (2024-09-08)](https://github.com/dartsim/dart/milestone/82?closed=1)

* 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](https://github.com/dartsim/dart/pull/1838)
* Allowed negative scale for MeshShape: [#1841](https://github.com/dartsim/dart/pull/1841)

### [DART 6.14.4 (2024-07-06)](https://github.com/dartsim/dart/milestone/81?closed=1)

* 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 GLUT dependency handling on Windows: [#1827](https://github.com/dartsim/dart/pull/1827)

### [DART 6.14.3 (2024-07-05)](https://github.com/dartsim/dart/milestone/80?closed=1)

* 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

* Changed the default CMake option to DART_ENABLE_SIMD=OFF: [#1825](https://github.com/dartsim/dart/pull/1825)

### [DART 6.14.2 (2024-06-28)](https://github.com/dartsim/dart/milestone/79?closed=1)

* 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 version definitions: [#1820](https://github.com/dartsim/dart/pull/1820)

### [DART 6.14.2 (2024-06-26)](https://github.com/dartsim/dart/milestone/78?closed=1)

* 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

* Included CTest for BUILD_TESTING option: [#1819](https://github.com/dartsim/dart/pull/1819)

### [DART 6.14.0 (2024-06-24)](https://github.com/dartsim/dart/milestone/73?closed=1)

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](https://github.com/dartsim/dart/pull/1752)
  * [Improved performance in constructing LCP problem](https://github.com/dartsim/dart/commit/76d8fe1a72f6925c06f64eea3d2cd135234b59de)

### [DART 6.13.2 (2024-03-17)](https://github.com/dartsim/dart/milestone/75?closed=1)

* Tested Platforms

  * Linux
    * Ubuntu 22.04 LTS on amd64 / GCC 11.2 / amd64
    * Ubuntu 24.04 LTS on amd64 / GCC 13.2 / amd64
  * macOS 12 (Monterey) / AppleClang 14 / amd64
  * Windows / MSVC 19.38 / amd64

* Build

  * Fixed build with GCC >= 13: [#1793](https://github.com/dartsim/dart/pull/1793)

### [DART 6.13.1 (2024-01-04)](https://github.com/dartsim/dart/milestone/74?closed=1)

* Tested Platforms

  * Ubuntu Focal on amd64 / GCC 9.4 / amd64
  * Ubuntu Jammy on amd64 / GCC 11.3 / amd64
  * macOS 12 (Monterey) / Clang 14 / amd64
  * Windows / MSVC 19.37 / amd64

* Build

  * Fixed build with urdfdom 4.0.0: [#1779](https://github.com/dartsim/dart/pull/1779)
  * Fixed invalid array access in moving skeleton subtree: [#1778](https://github.com/dartsim/dart/pull/1778)

* Dynamics

  * Fixed joint not recovering after reaching position limits in servo mode: [#1774](https://github.com/dartsim/dart/pull/1774)

### [DART 6.13.0 (2022-12-31)](https://github.com/dartsim/dart/milestone/69?closed=1)

* Supported Platforms

  * Ubuntu Focal on amd64 / GCC 9.3 / amd64
  * Ubuntu Jammy on amd64 / GCC 11.2 / amd64
  * macOS 12 (Monterey) / Clang 13 / amd64
  * Windows / Microsoft Visual Studio 2019 / amd64

* Dependency

  * Added required dependencies: fmt
  * Added optional dependencies: spdlog
  * Removed required dependencies: Boost

* Build

  * Dropped supporting FCL < 0.5: [#1647](https://github.com/dartsim/dart/pull/1647)

* Common

  * Added Castable class: [#1634](https://github.com/dartsim/dart/pull/1634)
  * Added spdlog support as underlying logging framework: [#1633](https://github.com/dartsim/dart/pull/1633)
  * Added custom memory allocators: [#1636](https://github.com/dartsim/dart/pull/1636), [#1637](https://github.com/dartsim/dart/pull/1637), [#1639](https://github.com/dartsim/dart/pull/1639), [#1645](https://github.com/dartsim/dart/pull/1645), [#1646](https://github.com/dartsim/dart/pull/1646)
  * Added Stopwatch class to replace Timer: [#1638](https://github.com/dartsim/dart/pull/1638)
  * Removed Boost dependency: [#1648](https://github.com/dartsim/dart/pull/1648), [#1651](https://github.com/dartsim/dart/pull/1651)

* Collision Detection

  * Updated to use convex mesh of Bullet when possible: [#1664](https://github.com/dartsim/dart/pull/1664), [#1667](https://github.com/dartsim/dart/pull/1667)

* Dynamics

  * Fixed setResitutionCoeff() calling setFrictionCoeff(): [#1677](https://github.com/dartsim/dart/pull/1677)
  * Made inertial warnings optional when setting tensor: [#1672](https://github.com/dartsim/dart/pull/1672)
  * Added deep copy for shapes: [#1612](https://github.com/dartsim/dart/pull/1612)
  * Added iterator methods to container-like classes: [#1644](https://github.com/dartsim/dart/pull/1644)
  * Fixed grouping of constraints: [#1624](https://github.com/dartsim/dart/pull/1624), [#1628](https://github.com/dartsim/dart/pull/1628)
  * Fixed issue with removing skeletons without shapes: [#1625](https://github.com/dartsim/dart/pull/1625)
  * Added support for custom contact surface handlers: [#1626](https://github.com/dartsim/dart/pull/1626)

* GUI

  * Fixed depth testing for transparent objects: [#1643](https://github.com/dartsim/dart/pull/1643)
  * Added depth rendering mode: [#1652](https://github.com/dartsim/dart/pull/1652)

### [DART 6.12.2 (2022-07-31)](https://github.com/dartsim/dart/milestone/72?closed=1)

* Build

  * Fixed build with urdfdom 3.1.0 on Windows: [#1675](https://github.com/dartsim/dart/pull/1675)

### [DART 6.12.1 (2021-11-04)](https://github.com/dartsim/dart/milestone/71?closed=1)

* Build

  * Fixed bullet header include: [#1620](https://github.com/dartsim/dart/pull/1620)

* dartpy

  * Added Python bindings for Joint::getWrenchTo{Child|Parent}BodyNode: [#1621](https://github.com/dartsim/dart/pull/1621)

### [DART 6.12.0 (2021-11-01)](https://github.com/dartsim/dart/milestone/66?closed=1)

* API Breaking Changes

  * DART 6.12.0 and later require compilers that support C++17: [#1600](https://github.com/dartsim/dart/pull/1600)
    * Increased minimum CMake version to 3.10.2
    * Increased minimum compiler versions to GCC 7.3.0, Clang 6.0, MSVC 16.0
    * Dropped Ubuntu Xenial (16.04 LTS) support

* Build

  * Remove DART_BUILD_DARTPY option: [#1600](https://github.com/dartsim/dart/pull/1600)

* Dynamics

  * Added joint force/torque getter: [#1616](https://github.com/dartsim/dart/pull/1616)

* Parsers

  * Added default options to DartLoader for missing properties in URDF files: [#1605](https://github.com/dartsim/dart/pull/1605)
  * Allowed SdfParser to set default root joint type: [#1617](https://github.com/dartsim/dart/pull/1617)

* GUI

  * Updated ImGui to 1.84.2: [#1608](https://github.com/dartsim/dart/pull/1608)

* dartpy

  * Added Python bindings for ResourceRetriever and SdfParser: [#1610](https://github.com/dartsim/dart/pull/1610)

### [DART 6.11.2 (2021-10-29)](https://github.com/dartsim/dart/milestone/68?closed=1)

* dartpy

  * Added Python binding for global lighting mode setting: [#1615](https://github.com/dartsim/dart/pull/1615)

### [DART 6.11.1 (2021-08-23)](https://github.com/dartsim/dart/milestone/67?closed=1)

* Dynamics

  * Fixed incorrect LCP construction in JointConstraint for multi-DOFs joints: [#1597](https://github.com/dartsim/dart/pull/1597)

### [DART 6.11.0 (2021-07-15)](https://github.com/dartsim/dart/milestone/64?closed=1)

* Math

  * Added `Mesh`, `TriMesh`, and `Icosphere` classes: [#1579](https://github.com/dartsim/dart/pull/1579)

* Collision

  * Fixed incorrect group-group collision checking for BulletCollisionDetector: [#1585](https://github.com/dartsim/dart/pull/1585), [#717](https://github.com/dartsim/dart/issues/717)

* Dynamics

  * Fixed servo motor doesn't respect joint position limits: [#1587](https://github.com/dartsim/dart/pull/1587)

* GUI

  * Fixed incorrect MultiSphereConvexHull rendering: [#1579](https://github.com/dartsim/dart/pull/1579)
  * Use GLVND over the legacy OpenGL libraries: [#1584](https://github.com/dartsim/dart/pull/1584)

* Build and testing

  * Add DART_ prefix to macros to avoid potential conflicts: [#1586](https://github.com/dartsim/dart/pull/1586)

### [DART 6.10.1 (2021-04-19)](https://github.com/dartsim/dart/milestone/65?closed=1)

* Dynamics

  * Fixed inertia calculation of CapsuleShape: [#1561](https://github.com/dartsim/dart/pull/1561)

* GUI

  * Changed to protect OpenGL attributes shared by ImGui and OSG: [#1558](https://github.com/dartsim/dart/pull/1558)
  * Changed to set backface culling by default: [#1559](https://github.com/dartsim/dart/pull/1559)

* dartpy

  * Added Python binding for BodyNode::getBodyForce(): [#1563](https://github.com/dartsim/dart/pull/1563)

### [DART 6.10.0 (2021-04-09)](https://github.com/dartsim/dart/milestone/58?closed=1)

* Common

  * Removed use of boost::filesystem in public APIs: [#1417](https://github.com/dartsim/dart/pull/1417)
  * Changed Signal to remove connection when they're being disconnected: [#1462](https://github.com/dartsim/dart/pull/1462)

* Collision

  * Added ConeShape support for FCLCollisionDetector: [#1447](https://github.com/dartsim/dart/pull/1447)
  * Fixed segfault from raycast when no ray hit: [#1461](https://github.com/dartsim/dart/pull/1461)
  * Added PyramidShape class: [#1466](https://github.com/dartsim/dart/pull/1466)

* Kinematics

  * Added IkFast parameter accessors to IkFast class: [#1396](https://github.com/dartsim/dart/pull/1396)
  * Changed IkFast to wrap IK solutions into the joint limits for RevoluteJoint: [#1452](https://github.com/dartsim/dart/pull/1452)
  * Added option to specify reference frame of TaskSpaceRegion: [#1548](https://github.com/dartsim/dart/pull/1548)

* Dynamics

  * Fixed friction and restitution of individual shapes in a body: [#1369](https://github.com/dartsim/dart/pull/1369)
  * Fixed soft body simulation when command input is not resetted: [#1372](https://github.com/dartsim/dart/pull/1372)
  * Added joint velocity limit constraint support: [#1407](https://github.com/dartsim/dart/pull/1407)
  * Added type property to constrain classes: [#1415](https://github.com/dartsim/dart/pull/1415)
  * Allowed to set joint rest position out of joint limits: [#1418](https://github.com/dartsim/dart/pull/1418)
  * Added secondary friction coefficient parameter: [#1424](https://github.com/dartsim/dart/pull/1424)
  * Allowed to set friction direction per ShapeFrame: [#1427](https://github.com/dartsim/dart/pull/1427)
  * Fixed incorrect vector resizing in BoxedLcpConstraintSolver: [#1459](https://github.com/dartsim/dart/pull/1459)
  * Changed to increment BodyNode version when it's being removed from Skeleton: [#1489](https://github.com/dartsim/dart/pull/1489)
  * Changed to print warning only once from BulletCollisionDetector::collide/distance: [#1546](https://github.com/dartsim/dart/pull/1546)
  * Added force dependent slip: [#1505](https://github.com/dartsim/dart/pull/1505)

* GUI

  * Fixed memory leaks from dart::gui::osg::Viewer: [#1349](https://github.com/dartsim/dart/pull/1349)
  * Added point rendering mode to PointCloudShape: [#1351](https://github.com/dartsim/dart/pull/1351), [#1355](https://github.com/dartsim/dart/pull/1355)
  * Updated ImGui to 1.71: [#1362](https://github.com/dartsim/dart/pull/1362)
  * Updated ImGui to 1.79: [#1498](https://github.com/dartsim/dart/pull/1498)
  * Fixed refresh of LineSegmentShapeNode: [#1381](https://github.com/dartsim/dart/pull/1381)
  * Fixed OSG transparent object sorting: [#1414](https://github.com/dartsim/dart/pull/1414)
  * Added modifier key support to ImGuiHandler: [#1436](https://github.com/dartsim/dart/pull/1436)
  * Fixed mixed intrinsic and extrinsic camera parameters in OpenGL projection matrix: [#1485](https://github.com/dartsim/dart/pull/1485)
  * Enabled mouse middle and right buttons in ImGuiHandler: [#1500](https://github.com/dartsim/dart/pull/1500)

* Parser

  * Allowed parsing SDF up to version 1.6: [#1385](https://github.com/dartsim/dart/pull/1385)
  * Fixed SDF parser not creating dynamics aspect for collision shape: [#1386](https://github.com/dartsim/dart/pull/1386)
  * Added root joint parsing option in URDF parser: [#1399](https://github.com/dartsim/dart/pull/1399), [#1406](https://github.com/dartsim/dart/pull/1406)
  * Enabled URDF parser to read visual and collision names: [#1410](https://github.com/dartsim/dart/pull/1410)
  * Added (experimental) MJCF parser: [#1416](https://github.com/dartsim/dart/pull/1416)

* dartpy

  * Added raycast option and result: [#1343](https://github.com/dartsim/dart/pull/1343)
  * Added GUI event handler: [#1346](https://github.com/dartsim/dart/pull/1346)
  * Added shadow technique: [#1348](https://github.com/dartsim/dart/pull/1348)
  * Added findSolution and solveAndApply to InverseKinematics: [#1358](https://github.com/dartsim/dart/pull/1358)
  * Added InteractiveFrame and ImGui APIs: [#1359](https://github.com/dartsim/dart/pull/1359)
  * Added bindings for Joint::getTransformFrom{Parent|Child}BodyNode(): [#1377](https://github.com/dartsim/dart/pull/1377)
  * Added bindings for BodyNode::getChild{BodyNode|Joint}(): [#1387](https://github.com/dartsim/dart/pull/1387)
  * Added bindings for Inertia: [#1388](https://github.com/dartsim/dart/pull/1388)
  * Added bindings for getting all BodyNodes from a Skeleton: [#1397](https://github.com/dartsim/dart/pull/1397)
  * Added bindings for background color support in osg viewer: [#1398](https://github.com/dartsim/dart/pull/1398)
  * Added bindings for BallJoint::convertToPositions(): [#1408](https://github.com/dartsim/dart/pull/1408)
  * Fixed typos in Skeleton: [#1392](https://github.com/dartsim/dart/pull/1392)
  * Fixed enabling drag and drop for InteractiveFrame: [#1432](https://github.com/dartsim/dart/pull/1432)
  * Added bindings for pointcloud and contact retrieval: [#1455](https://github.com/dartsim/dart/pull/1455)
  * Fixed TypeError from dartpy.dynamics.Node.getBodyNodePtr(): [#1463](https://github.com/dartsim/dart/pull/1463)
  * Added pybind/eigen.h to DistanceResult.cpp for read/write of eigen types: [#1480](https://github.com/dartsim/dart/pull/1480)
  * Added bindings for adding ShapeFrames to CollisionGroup: [#1490](https://github.com/dartsim/dart/pull/1490)
  * Changed dartpy install command to make install-dartpy: [#1503](https://github.com/dartsim/dart/pull/1503)
  * Added bindings for CollisionFilter, CollisionGroup, and Node: [#1545](https://github.com/dartsim/dart/pull/1545)
  * Added bindings for TaskSpaceRegion: [#1550](https://github.com/dartsim/dart/pull/1550)

* Build and testing

  * Fixed compiler warnings from GCC 9.1: [#1366](https://github.com/dartsim/dart/pull/1366)
  * Replaced M_PI with dart::math::constantsd::pi(): [#1367](https://github.com/dartsim/dart/pull/1367)
  * Enabled octomap support on macOS: [#1078](https://github.com/dartsim/dart/pull/1078)
  * Removed dependency on Boost::regex: [#1412](https://github.com/dartsim/dart/pull/1412)
  * Added support new if() IN_LIST operator in DARTConfig.cmake: [#1434](https://github.com/dartsim/dart/pull/1434)
  * Updated Findfcl.cmake to support FCL 0.6: [#1441](https://github.com/dartsim/dart/pull/1441)
  * Added gtest macros for Eigen object comparisons: [#1443](https://github.com/dartsim/dart/pull/1443)
  * Removed gccfilter: [#1464](https://github.com/dartsim/dart/pull/1464)
  * Allowed to set CMAKE_INSTALL_PREFIX on Windows: [#1478](https://github.com/dartsim/dart/pull/1478)
  * Enforced to use OpenSceneGraph 3.7.0 or greater on macOS Catalina: [#1479](https://github.com/dartsim/dart/pull/1479)
  * Fixed compatibility with clang-cl: [#1509](https://github.com/dartsim/dart/pull/1509)
  * Fixed MSVC linking for assimp and fcl: [#1510](https://github.com/dartsim/dart/pull/1510)
  * Fixed AspectWithState-relate compile error on Windows: [#1528](https://github.com/dartsim/dart/pull/1528)
  * Made `dart.pc` relocatable: [#1529](https://github.com/dartsim/dart/pull/1529)
  * Added CI for multiple Linux platforms: arm64 and ppc64le: [#1531](https://github.com/dartsim/dart/pull/1531)
  * Fixed Aspect/Composite-relate tests on Windows/MSVC: [#1541](https://github.com/dartsim/dart/pull/1541), [#1542](https://github.com/dartsim/dart/pull/1542)
  * Added `DART_SKIP_<dep>`_advanced option: [#1529](https://github.com/dartsim/dart/pull/1529)
  * Replaced OpenGL dependency variables with targets: [#1552](https://github.com/dartsim/dart/pull/1552)

* Documentation

  * Updated tutorial documentation and code to reflect new APIs: [#1481](https://github.com/dartsim/dart/pull/1481)

### [DART 6.9.5 (2020-10-17)](https://github.com/dartsim/dart/milestone/63?closed=1)

* Optimization

  * Added Ipopt >= 3.13 support: [#1506](https://github.com/dartsim/dart/pull/1506)

### [DART 6.9.4 (2020-08-30)](https://github.com/dartsim/dart/milestone/62?closed=1)

* Build

  * Added support new if() IN_LIST operator in DARTConfig.cmake (6.9 backport): [#1494](https://github.com/dartsim/dart/pull/1494)

### [DART 6.9.3 (2020-08-26)](https://github.com/dartsim/dart/milestone/61?closed=1)

* Dynamics

  * Changed to update the Properties version of a BodyNode when moved to a new Skeleton: [#1445](https://github.com/dartsim/dart/pull/1445)
  * Fixed incorrect implicit joint damping/spring force computation in inverse dynamics: [#1451](https://github.com/dartsim/dart/pull/1451)

### [DART 6.9.2 (2019-08-16)](https://github.com/dartsim/dart/milestone/60?closed=1)

* Dynamics

  * Allowed constraint force mixing > 1: [#1371](https://github.com/dartsim/dart/pull/1371)

### [DART 6.9.1 (2019-06-06)](https://github.com/dartsim/dart/milestone/59?closed=1)

* Collision

  * Added default constructor to RayHit: [#1345](https://github.com/dartsim/dart/pull/1345)

* dartpy

  * Updated build scripts for uploading dartpy to PyPI: [#1341](https://github.com/dartsim/dart/pull/1341)

### [DART 6.9.0 (2019-05-26)](https://github.com/dartsim/dart/milestone/52?closed=1)

* API Breaking Changes

  * DART 6.9.0 and later require compilers that support C++14.

* Common

  * Deprecated custom make_unique in favor of std::make_unique: [#1317](https://github.com/dartsim/dart/pull/1317)

* Collision Detection

  * Added raycast query to BulletCollisionDetector: [#1309](https://github.com/dartsim/dart/pull/1309)

* Dynamics

  * Added safeguard for accessing Assimp color: [#1313](https://github.com/dartsim/dart/pull/1313)

* Parser

  * Changed URDF parser to use URDF material color when specified: [#1295](https://github.com/dartsim/dart/pull/1295)

* GUI

  * Added heightmap support to OSG renderer: [#1293](https://github.com/dartsim/dart/pull/1293)
  * Improved voxel grid and point cloud rendering performance: [#1294](https://github.com/dartsim/dart/pull/1294)
  * Fixed incorrect alpha value update of InteractiveFrame: [#1297](https://github.com/dartsim/dart/pull/1297)
  * Fixed dereferencing a dangling pointer in WorldNode: [#1311](https://github.com/dartsim/dart/pull/1311)
  * Removed warning of ImGuiViewer + OSG shadow: [#1312](https://github.com/dartsim/dart/pull/1312)
  * Added shape type and color options to PointCloudShape: [#1314](https://github.com/dartsim/dart/pull/1314), [#1316](https://github.com/dartsim/dart/pull/1316)
  * Fixed incorrect transparency of MeshShape for MATERIAL_COLOR mode: [#1315](https://github.com/dartsim/dart/pull/1315)
  * Fixed incorrect PointCloudShape transparency: [#1330](https://github.com/dartsim/dart/pull/1330)
  * Improved voxel rendering by using multiple nodes instead of CompositeShape: [#1334](https://github.com/dartsim/dart/pull/1334)

* Examples and Tutorials

  * Updated examples directory to make dart::gui::osg more accessible: [#1305](https://github.com/dartsim/dart/pull/1305)

* dartpy

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

### [DART 6.8.5 (2019-05-26)](https://github.com/dartsim/dart/milestone/57?closed=1)

* Collision

  * Fixed handling of submeshes in ODE collision detector: [#1336](https://github.com/dartsim/dart/pull/1336)

#### Compilers Tested

* Linux

  * GCC 64-bit: 5.4.0, 7.3.0, 8.2.0
  * GCC 32-bit: 5.4.0

* macOS

  * AppleClang: 9.1.0, 10.0.0

### [DART 6.8.4 (2019-05-03)](https://github.com/dartsim/dart/milestone/56?closed=1)

#### Changes

* GUI

  * Fixed crashing on exiting OSG + ImGui applications: [#1303](https://github.com/dartsim/dart/pull/1303)

#### Compilers Tested

* Linux

  * GCC 64-bit: 5.4.0, 7.3.0, 8.2.0
  * GCC 32-bit: 5.4.0

* macOS

  * AppleClang: 9.1.0, 10.0.0

### [DART 6.8.3 (2019-05-01)](https://github.com/dartsim/dart/milestone/55?closed=1)

#### Changes

* Parser

  * Fixed VskParker returning incorrect resource retriever: [#1300](https://github.com/dartsim/dart/pull/1300)

* Build

  * Fixed building with pagmo's optional dependencies: [#1301](https://github.com/dartsim/dart/pull/1301)

#### Compilers Tested

* Linux

  * GCC 64-bit: 5.4.0, 7.3.0, 8.2.0
  * GCC 32-bit: 5.4.0

* macOS

  * AppleClang: 9.1.0, 10.0.0

### [DART 6.8.2 (2019-04-23)](https://github.com/dartsim/dart/milestone/54?closed=1)

#### Changes

* Dynamics

  * Fixed BoxedLcpConstraintSolver is not API compatible with 6.7: [#1291](https://github.com/dartsim/dart/pull/1291)

* Build

  * Fixed building with FCL built without Octomap: [#1292](https://github.com/dartsim/dart/pull/1292)

#### Compilers Tested

* Linux

  * GCC 64-bit: 5.4.0, 7.3.0, 8.2.0
  * GCC 32-bit: 5.4.0

* macOS

  * AppleClang: 9.1.0, 10.0.0

### [DART 6.8.1 (2019-04-23)](https://github.com/dartsim/dart/milestone/53?closed=1)

#### Changes

* Build System

  * Fixed invalid double quotation marks in DARTFindBoost.cmake: [#1283](https://github.com/dartsim/dart/pull/1283)
  * Disabled octomap support on macOS: [#1284](https://github.com/dartsim/dart/pull/1284)

#### Compilers Tested

* Linux

  * GCC 64-bit: 5.4.0, 7.3.0, 8.2.0
  * GCC 32-bit: 5.4.0

* macOS

  * AppleClang: 9.1.0, 10.0.0

### [DART 6.8.0 (2019-04-22)](https://github.com/dartsim/dart/milestone/48?closed=1)

#### Changes

* Kinematics

  * Added findSolution() and solveAndApply() to InverseKinematics and HierarchicalIk classes and deprecated solve(~) member functions: [#1266](https://github.com/dartsim/dart/pull/1266)
  * Added an utility constructor to Linkage::Criteria to create sequence Linkage: [#1273](https://github.com/dartsim/dart/pull/1273)

* Dynamics

  * Fixed incorrect transpose check in Inertia::verifySpatialTensor(): [#1258](https://github.com/dartsim/dart/pull/1258)
  * Allowed BoxedLcpConstraintSolver to have a secondary LCP solver: [#1265](https://github.com/dartsim/dart/pull/1265)

* Simulation

  * The LCP solver will be less aggressive about printing out unnecessary warnings: [#1238](https://github.com/dartsim/dart/pull/1238)
  * Fixed not copying constraints in World::setConstraintSolver(): [#1260](https://github.com/dartsim/dart/pull/1260)

* Collision Detection

  * The BodyNodeCollisionFilter will ignore contacts between immobile bodies: [#1232](https://github.com/dartsim/dart/pull/1232)

* Planning

  * Fixed linking error of FLANN by explicitly linking to lz4: [#1221](https://github.com/dartsim/dart/pull/1221)

* Python

  * Added (experimental) Python binding: [#1237](https://github.com/dartsim/dart/pull/1237)

* Parsers

  * Changed urdf parser to warn if robot model has multi-tree: [#1270](https://github.com/dartsim/dart/pull/1270)

* GUI

  * Updated ImGui to 1.69: [#1274](https://github.com/dartsim/dart/pull/1274)
  * Added VoxelGridShape support to OSG renderer: [#1276](https://github.com/dartsim/dart/pull/1276)
  * Added PointCloudShape and its OSG rendering: [#1277](https://github.com/dartsim/dart/pull/1277)
  * Added grid visual to OSG renderer: [#1278](https://github.com/dartsim/dart/pull/1278), [#1280](https://github.com/dartsim/dart/pull/1280)

* Build System

  * Changed to use GNUInstallDirs for install paths: [#1241](https://github.com/dartsim/dart/pull/1241)
  * Fixed not failing for missing required dependencies: [#1250](https://github.com/dartsim/dart/pull/1250)
  * Fixed attempting to link octomap when not imported: [#1253](https://github.com/dartsim/dart/pull/1253)
  * Fixed not defining boost targets: [#1254](https://github.com/dartsim/dart/pull/1254)

#### Compilers Tested

* Linux

  * GCC 64-bit: 5.4.0, 7.3.0, 8.2.0
  * GCC 32-bit: 5.4.0

* macOS

  * AppleClang: 9.1.0, 10.0.0

### [DART 6.7.3 (2019-02-19)](https://github.com/dartsim/dart/milestone/51?closed=1)

#### Changes

* Dynamics

  * Fixed Skeleton::setState(): [#1245](https://github.com/dartsim/dart/pull/1245)

#### Compilers Tested

* Linux

  * GCC (C++11): 5.4.0, 7.3.0, 8.2.0

* Linux (32-bit)

  * GCC (C++11): 5.4.0

* macOS

  * AppleClang (C++11): 9.1.0

### [DART 6.7.2 (2019-01-17)](https://github.com/dartsim/dart/milestone/50?closed=1)

#### Changes

* Build system

  * Fixed #1223 for the recursive case: [#1227](https://github.com/dartsim/dart/pull/1227)
  * Specified mode for find_package(): [#1228](https://github.com/dartsim/dart/pull/1228)

#### Compilers Tested

* Linux

  * GCC (C++11): 5.4.0, 7.3.0, 8.2.0

* Linux (32-bit)

  * GCC (C++11): 5.4.0

* macOS

  * AppleClang (C++11): 9.1.0

### [DART 6.7.1 (2019-01-15)](https://github.com/dartsim/dart/milestone/49?closed=1)

#### Changes

* Build system

  * Ensure that imported targets of dependencies are always created when finding the dart package: [#1222](https://github.com/dartsim/dart/pull/1222)
  * Set components to not-found when their external dependencies are missing: [#1223](https://github.com/dartsim/dart/pull/1223)

#### Compilers Tested

* Linux

  * GCC (C++11): 5.4.0, 7.3.0, 8.2.0

* Linux (32-bit)

  * GCC (C++11): 5.4.0

* macOS

  * AppleClang (C++11): 9.1.0

### [DART 6.7.0 (2019-01-10)](https://github.com/dartsim/dart/milestone/45?closed=1)

#### Changes

* Build system

  * Fixed compilation warnings for newer versions of compilers: [#1177](https://github.com/dartsim/dart/pull/1177)
  * Changed to generate namespace headers without requiring *.hpp.in files: [#1192](https://github.com/dartsim/dart/pull/1192)
  * Dropped supporting Ubuntu Trusty and started using imported targets of dependencies: [#1212](https://github.com/dartsim/dart/pull/1212)

* Collision Detection

  * CollisionGroups will automatically update their objects when any changes occur to Skeletons or BodyNodes that they are subscribed to: [#1112](https://github.com/dartsim/dart/pull/1112)
  * Contact points with negative penetration depth will be ignored: [#1185](https://github.com/dartsim/dart/pull/1185)

* Math

  * Consolidated random functions into Random class: [#1109](https://github.com/dartsim/dart/pull/1109)

* Dynamics

  * Refactor constraint solver: [#1099](https://github.com/dartsim/dart/pull/1099), [#1101](https://github.com/dartsim/dart/pull/1101)
  * Added mimic joint functionality as a new actuator type: [#1178](https://github.com/dartsim/dart/pull/1178)
  * Added clone function to MetaSkeleton: [#1201](https://github.com/dartsim/dart/pull/1201)

* Optimization

  * Added multi-objective optimization with pagmo2 support: [#1106](https://github.com/dartsim/dart/pull/1106)

* GUI

  * Reorganized OpenGL and GLUT files: [#1088](https://github.com/dartsim/dart/pull/1088)
  * Added the RealTimeWorldNode to display simulations at real-time rates: [#1216](https://github.com/dartsim/dart/pull/1216)

* Misc

  * Updated Googletest to version 1.8.1: [#1214](https://github.com/dartsim/dart/pull/1214)

#### Compilers Tested

* Linux

  * GCC (C++11): 5.4.0, 7.3.0, 8.2.0

* Linux (32-bit)

  * GCC (C++11): 5.4.0

* macOS

  * AppleClang (C++11): 9.1.0

### [DART 6.6.2 (2018-09-03)](https://github.com/dartsim/dart/milestone/47?closed=1)

* Utils

  * Fixed checking file existence in DartResourceRetriever: [#1107](https://github.com/dartsim/dart/pull/1107)

### [DART 6.6.1 (2018-08-04)](https://github.com/dartsim/dart/milestone/46?closed=1)

* Utils

  * Added option to DartResourceRetriever to search from environment variable DART_DATA_PATH: [#1095](https://github.com/dartsim/dart/pull/1095)

* Examples

  * Fixed CMakeLists.txt of humanJointLimits: [#1094](https://github.com/dartsim/dart/pull/1094)

### [DART 6.6.0 (2018-08-02)](https://github.com/dartsim/dart/milestone/44?closed=1)

* Collision detection

  * Added voxel grid map: [#1076](https://github.com/dartsim/dart/pull/1076), [#1083](https://github.com/dartsim/dart/pull/1083)
  * Added heightmap support: [#1069](https://github.com/dartsim/dart/pull/1069)

### [DART 6.5.0 (2018-05-12)](https://github.com/dartsim/dart/milestone/41?closed=1)

* Common

  * Added LockableReference classes: [#1011](https://github.com/dartsim/dart/pull/1011)
  * Added missing \<vector\> to Memory.hpp: [#1057](https://github.com/dartsim/dart/pull/1057)

* GUI

  * Added FOV API to OSG viewer: [#1048](https://github.com/dartsim/dart/pull/1048)

* Parsers

  * Fixed incorrect parsing of continuous joints specified in URDF [#1064](https://github.com/dartsim/dart/pull/1064)

* Simulation

  * Added World::hasSkeleton(): [#1050](https://github.com/dartsim/dart/pull/1050)

* Misc

  * Fixed memory leaks in mesh loading: [#1066](https://github.com/dartsim/dart/pull/1066)

### [DART 6.4.0 (2018-03-26)](https://github.com/dartsim/dart/milestone/39?closed=1)

* Common

  * Added DART_COMMON_DECLARE_SMART_POINTERS macro: [#1022](https://github.com/dartsim/dart/pull/1022)
  * Added ResourceRetriever::getFilePath(): [#972](https://github.com/dartsim/dart/pull/972)

* Kinematics/Dynamics

  * Added relative Jacobian functions to MetaSkeleton: [#997](https://github.com/dartsim/dart/pull/997)
  * Added vectorized joint limit functions: [#996](https://github.com/dartsim/dart/pull/996)
  * Added lazy evaluation for shape's volume and bounding-box computation: [#959](https://github.com/dartsim/dart/pull/959)
  * Added IkFast support as analytic IK solver: [#887](https://github.com/dartsim/dart/pull/887)
  * Added TranslationalJoint2D: [#1003](https://github.com/dartsim/dart/pull/1003)
  * Fixed NaN values caused by zero-length normals in ContactConstraint: [#881](https://github.com/dartsim/dart/pull/881)
  * Extended BodyNode::createShapeNode() to accept more types of arguments: [#986](https://github.com/dartsim/dart/pull/986)

* Collision detection

  * Added FCL 0.6 support (backport of #873): [#936](https://github.com/dartsim/dart/pull/936)

* GUI

  * Added support of rendering texture images: [#973](https://github.com/dartsim/dart/pull/973)
  * Added OSG shadows: [#978](https://github.com/dartsim/dart/pull/978)

* Examples

  * Added humanJointLimits: [#1016](https://github.com/dartsim/dart/pull/1016)

* License

  * Added Personal Robotics Lab and Open Source Robotics Foundation as contributors: [#929](https://github.com/dartsim/dart/pull/929)

* Misc

  * Added World::create(): [#962](https://github.com/dartsim/dart/pull/962)
  * Added MetaSkeleton::hasBodyNode() and MetaSkeleton::hasJoint(): [#1000](https://github.com/dartsim/dart/pull/1000)
  * Suppressed -Winjected-class-name warnings from Clang 5.0.0: [#964](https://github.com/dartsim/dart/pull/964)
  * Suppressed -Wdangling-else warnings from GCC 7.2.0: [#937](https://github.com/dartsim/dart/pull/937)
  * Changed console macros to use global namespace resolutions: [#1010](https://github.com/dartsim/dart/pull/1010)
  * Fixed build with Eigen 3.2.1-3.2.8: [#1042](https://github.com/dartsim/dart/pull/1042)
  * Fixed various build issues with Visual Studio: [#956](https://github.com/dartsim/dart/pull/956)
  * Removed TinyXML dependency: [#993](https://github.com/dartsim/dart/pull/993)

### [DART 6.3.1 (2018-03-21)](https://github.com/dartsim/dart/milestone/42?closed=1)

* Build system

  * Removed an undefined cmake macro/function: [#1036](https://github.com/dartsim/dart/pull/1036)

* ROS support

  * Tweaked package.xml for catkin support: [#1027](https://github.com/dartsim/dart/pull/1027), [#1029](https://github.com/dartsim/dart/pull/1029), [#1031](https://github.com/dartsim/dart/pull/1031), [#1032](https://github.com/dartsim/dart/pull/1031), [#1033](https://github.com/dartsim/dart/pull/1033)

### [DART 6.3.0 (2017-10-04)](https://github.com/dartsim/dart/milestone/36?closed=1)

* Collision detection

  * Added a feature of disabling body node pairs to BodyNodeCollisionFilter: [#911](https://github.com/dartsim/dart/pull/911)

* Kinematics/Dynamics

  * Added setter and getter for WeldJointConstraint::mRelativeTransform: [#910](https://github.com/dartsim/dart/pull/910)

* Parsers

  * Improved SkelParser to read alpha value: [#914](https://github.com/dartsim/dart/pull/914)

* Misc

  * Changed not to use lambda function as an workaround for DART python binding: [#916](https://github.com/dartsim/dart/pull/916)

### [DART 6.2.1 (2017-08-08)](https://github.com/dartsim/dart/milestone/37?closed=1)

* Collision detection

  * Fixed collision checking between objects from the same body node: [#894](https://github.com/dartsim/dart/pull/894)

* Kinematics/Dynamics

  * Fixed transform of ScrewJoint with thread pitch: [#855](https://github.com/dartsim/dart/pull/855)

* Parsers

  * Fixed incorrect reading of <use_parent_model_frame> from SDF: [#893](https://github.com/dartsim/dart/pull/893)
  * Fixed missing reading of joint friction from URDF: [#891](https://github.com/dartsim/dart/pull/891)

* Testing

  * Fixed testing ODE collision detector on macOS: [#884](https://github.com/dartsim/dart/pull/884)
  * Removed redundant main body for each test source file: [#856](https://github.com/dartsim/dart/pull/856)

* Misc

  * Fixed build of dart-gui-osg that depends on the presence of OSG: [#898](https://github.com/dartsim/dart/pull/898)
  * Fixed build of examples and tutorials on macOS: [#889](https://github.com/dartsim/dart/pull/889)
  * Fixed missing overriding method OdePlane::isPlaceable(): [#886](https://github.com/dartsim/dart/pull/886)
  * Replaced use of enum by static constexpr: [#852](https://github.com/dartsim/dart/pull/852), [#904](https://github.com/dartsim/dart/pull/904)

### [DART 6.2.0 (2017-05-15)](https://github.com/dartsim/dart/milestone/30?closed=1)

* Common

  * Added Factory class and applied it to collision detection creation: [#864](https://github.com/dartsim/dart/pull/864)
  * Added readAll() to Resource and ResourceRetriever: [#875](https://github.com/dartsim/dart/pull/875)

* Math

  * Added accessors for diameters and radii of EllipsoidShape, and deprecated EllipsoidShape::get/setSize(): [#829](https://github.com/dartsim/dart/pull/829)
  * Fixed Lemke LCP solver (#808 for DART 6): [#812](https://github.com/dartsim/dart/pull/812)

* Collision Detection

  * Added support of ODE collision detector: [#861](https://github.com/dartsim/dart/pull/861)
  * Fixed incorrect collision filtering of BulletCollisionDetector: [#859](https://github.com/dartsim/dart/pull/859)

* Simulation

  * Fixed World didn't clear collision results on reset: [#863](https://github.com/dartsim/dart/pull/863)

* Parsers

  * Fixed incorrect creation of resource retriever in SkelParser and SdfParser: [#847](https://github.com/dartsim/dart/pull/847), [#849](https://github.com/dartsim/dart/pull/849)

* GUI

  * Added MotionBlurSimWindow: [#840](https://github.com/dartsim/dart/pull/840)
  * Improved MultiSphereShape rendering in GLUT renderer: [#862](https://github.com/dartsim/dart/pull/862)
  * Fixed incorrect parsing of materials and normal scaling from URDF: [#851](https://github.com/dartsim/dart/pull/851)
  * Fixed the OSG renderer not rendering collision geometries: [#851](https://github.com/dartsim/dart/pull/851)
  * Fixed that GUI was rendering white lines with nvidia drivers: [#805](https://github.com/dartsim/dart/pull/805)

* Misc

  * Added createShared() and createUnique() pattern: [#844](https://github.com/dartsim/dart/pull/844)
  * Added Skeleton::getRootJoint(): [#832](https://github.com/dartsim/dart/pull/832)
  * Added CMake targets for code formatting using clang-format: [#811](https://github.com/dartsim/dart/pull/811), [#817](https://github.com/dartsim/dart/pull/817)
  * Renamed MultiSphereShape to MultiSphereConvexHullShape: [#865](https://github.com/dartsim/dart/pull/865)
  * Modified the member function names pertain to lazy evaluation to be more relevant to their functionalities: [#833](https://github.com/dartsim/dart/pull/833)

* Tutorials & Examples

  * Allowed tutorials and examples to be built out of DART source tree: [#842](https://github.com/dartsim/dart/pull/842)
  * Fixed tutorialDominoes-Finished that didn't work with the latest DART: [#807](https://github.com/dartsim/dart/pull/807)

### DART 6.1.2 (2017-01-13)

* Dynamics

  * Fixed bug of ContactConstraint with kinematic joints: [#809](https://github.com/dartsim/dart/pull/809)

* Misc

  * Fixed that ZeroDofJoint::getIndexInTree was called: [#818](https://github.com/dartsim/dart/pull/818)

### DART 6.1.1 (2016-10-14)

* Build

  * Modified to build DART without SIMD options by default: [#790](https://github.com/dartsim/dart/pull/790)
  * Modified to build external libraries as separately build targets: [#787](https://github.com/dartsim/dart/pull/787)
  * Modified to export CMake target files separately per target: [#786](https://github.com/dartsim/dart/pull/786)

* Misc

  * Updated lodepng up to version 20160501: [#791](https://github.com/dartsim/dart/pull/791)

### DART 6.1.0 (2016-10-07)

* Collision detection

  * Added distance API: [#744](https://github.com/dartsim/dart/pull/744)
  * Fixed direction of contact normal of BulletCollisionDetector: [#763](https://github.com/dartsim/dart/pull/763)

* Dynamics

  * Added `computeLagrangian()` to `MetaSkeleton` and `BodyNode`: [#746](https://github.com/dartsim/dart/pull/746)
  * Added new shapes: sphere, capsule, cone, and multi-sphere: [#770](https://github.com/dartsim/dart/pull/770), [#769](https://github.com/dartsim/dart/pull/769), [#745](https://github.com/dartsim/dart/pull/745)
  * Changed base class of joint from SingleDofJoint/MultiDofJoint to GenericJoint: [#747](https://github.com/dartsim/dart/pull/747)

* Planning

  * Fixed incorrect linking to flann library: [#761](https://github.com/dartsim/dart/pull/761)

* Parsers

  * Added `sdf` parsing for `fixed` joint and `material` tag of visual shape: [#775](https://github.com/dartsim/dart/pull/775)
  * Added support of urdfdom_headers 1.0: [#766](https://github.com/dartsim/dart/pull/766)

* GUI

  * Added ImGui for 2D graphical interface: [#781](https://github.com/dartsim/dart/pull/781)

* Examples

  * Added osgAtlasSimbicon and osgTinkertoy: [#781](https://github.com/dartsim/dart/pull/781)

* Misc improvements and bug fixes

  * Added `virtual Shape::getType()` and deprecated `ShapeType Shape::getShapeType()`: [#725](https://github.com/dartsim/dart/pull/725)
  * Changed building with SIMD optional: [#765](https://github.com/dartsim/dart/pull/765), [#760](https://github.com/dartsim/dart/pull/760)
  * Fixed minor build and install issues: [#773](https://github.com/dartsim/dart/pull/773), [#772](https://github.com/dartsim/dart/pull/772)
  * Fixed Doxyfile to show missing member functions in API documentation: [#768](https://github.com/dartsim/dart/pull/768)
  * Fixed typo: [#756](https://github.com/dartsim/dart/pull/756), [#755](https://github.com/dartsim/dart/pull/755)

### DART 6.0.1 (2016-06-29)

* Collision detection

  * Added support of FCL 0.5 and tinyxml2 4.0: [#749](https://github.com/dartsim/dart/pull/749)
  * Added warnings for unsupported shape pairs of DARTCollisionDetector: [#722](https://github.com/dartsim/dart/pull/722)

* Dynamics

  * Fixed total mass is not being updated when bodies removed from Skeleton: [#731](https://github.com/dartsim/dart/pull/731)

* Misc improvements and bug fixes

  * Renamed `DEPRECATED` and `FORCEINLINE` to `DART_DEPRECATED` and `DART_FORCEINLINE` to avoid name conflicts: [#742](https://github.com/dartsim/dart/pull/742)
  * Updated copyright: added CMU to copyright holder, moved individual contributors to CONTRIBUTING.md: [#723](https://github.com/dartsim/dart/pull/723)

### DART 6.0.0 (2016-05-10)

* Common data structures

  * Added `Node`, `Aspect`, `State`, and `Properties`: [#713](https://github.com/dartsim/dart/pull/713), [#712](https://github.com/dartsim/dart/issues/712), [#708](https://github.com/dartsim/dart/pull/708), [#707](https://github.com/dartsim/dart/pull/707), [#659](https://github.com/dartsim/dart/pull/659), [#649](https://github.com/dartsim/dart/pull/649), [#645](https://github.com/dartsim/dart/issues/645), [#607](https://github.com/dartsim/dart/pull/607), [#598](https://github.com/dartsim/dart/pull/598), [#591](https://github.com/dartsim/dart/pull/591), [#531](https://github.com/dartsim/dart/pull/531)
  * Added mathematical constants and user-defined literals for radian, degree, and pi: [#669](https://github.com/dartsim/dart/pull/669), [#314](https://github.com/dartsim/dart/issues/314)
  * Added `ShapeFrame` and `ShapeNode`: [#608](https://github.com/dartsim/dart/pull/608)
  * Added `BoundingBox`: [#547](https://github.com/dartsim/dart/pull/547), [#546](https://github.com/dartsim/dart/issues/546)

* Kinematics

  * Added convenient functions for setting joint limits: [#703](https://github.com/dartsim/dart/pull/703)
  * Added more description on `InverseKinematics::solve()`: [#624](https://github.com/dartsim/dart/pull/624)
  * Added API for utilizing analytical inverse kinematics: [#530](https://github.com/dartsim/dart/pull/530), [#463](https://github.com/dartsim/dart/issues/463)
  * Added color property to `Marker`: [#187](https://github.com/dartsim/dart/issues/187)
  * Improved `Skeleton` to clone `State` as well: [#691](https://github.com/dartsim/dart/pull/691)
  * Improved `ReferentialSkeleton` to be able to add and remove `BodyNode`s and `DegreeOfFreedom`s to/from `Group`s freely: [#557](https://github.com/dartsim/dart/pull/557), [#556](https://github.com/dartsim/dart/issues/556), [#548](https://github.com/dartsim/dart/issues/548)
  * Changed `Marker` into `Node`: [#692](https://github.com/dartsim/dart/pull/692), [#609](https://github.com/dartsim/dart/issues/609)
  * Renamed `Joint::get/setLocal[~]` to `Joint::get/setRelative[~]`: [#715](https://github.com/dartsim/dart/pull/715), [#714](https://github.com/dartsim/dart/issues/714)
  * Renamed `PositionLimited` to `PositionLimitEnforced`: [#447](https://github.com/dartsim/dart/issues/447)
  * Fixed initialization of joint position and velocity: [#691](https://github.com/dartsim/dart/pull/691), [#621](https://github.com/dartsim/dart/pull/621)
  * Fixed `InverseKinematics` when it's used with `FreeJoint` and `BallJoint`: [#683](https://github.com/dartsim/dart/pull/683)
  * Fixed ambiguous overload on `MetaSkeleton::getLinearJacobianDeriv`: [#628](https://github.com/dartsim/dart/pull/628), [#626](https://github.com/dartsim/dart/issues/626)

* Dynamics

  * Added `get/setLCPSolver` functions to `ConstraintSolver`: [#633](https://github.com/dartsim/dart/pull/633)
  * Added `ServoMotorConstraint` as a preliminary implementation for `SERVO` actuator type: [#566](https://github.com/dartsim/dart/pull/566)
  * Improved `ConstraintSolver` to obey C++11 ownership conventions: [#616](https://github.com/dartsim/dart/pull/616)
  * Fixed segfualting of `DantzigLCPSolver` when the constraint dimension is zero: [#634](https://github.com/dartsim/dart/pull/634)
  * Fixed missing implementations in ConstrainedGroup: [#586](https://github.com/dartsim/dart/pull/586)
  * Fixed incorrect applying of joint constraint impulses: [#317](https://github.com/dartsim/dart/issues/317)
  * Deprecated `draw()` functions of dynamics classes: [#654](https://github.com/dartsim/dart/pull/654)

* Collision detection

  * Added `CollisionGroup` and refactored `CollisionDetector` to be more versatile: [#711](https://github.com/dartsim/dart/pull/711), [#704](https://github.com/dartsim/dart/pull/704), [#689](https://github.com/dartsim/dart/pull/689), [#631](https://github.com/dartsim/dart/pull/631), [#642](https://github.com/dartsim/dart/issues/642), [#20](https://github.com/dartsim/dart/issues/20)
  * Improved API for self collision checking options: [#718](https://github.com/dartsim/dart/pull/718), [#702](https://github.com/dartsim/dart/issues/702)
  * Deprecated `BodyNode::isColliding`; collision sets are moved to `CollisionResult`: [#694](https://github.com/dartsim/dart/pull/694), [#670](https://github.com/dartsim/dart/pull/670), [#668](https://github.com/dartsim/dart/pull/668), [#666](https://github.com/dartsim/dart/issues/666)

* Parsers

  * Added back VSK parser: [#602](https://github.com/dartsim/dart/pull/602), [#561](https://github.com/dartsim/dart/pull/561), [#254](https://github.com/dartsim/dart/issues/254)
  * Fixed segfault of `SdfParser` when `nullptr` `ResourceRetriever` is passed: [#663](https://github.com/dartsim/dart/pull/663)

* GUI features

  * Merged `renderer` namespace into `gui` namespace: [#652](https://github.com/dartsim/dart/pull/652), [#589](https://github.com/dartsim/dart/issues/589)
  * Moved `osgDart` under `dart::gui` namespace as `dart::gui::osg`: [#651](https://github.com/dartsim/dart/pull/651)
  * Fixed GlutWindow::screenshot(): [#623](https://github.com/dartsim/dart/pull/623), [#395](https://github.com/dartsim/dart/issues/395)

* Simulation

  * Fixed `World::clone()` didn't clone the collision detector: [#658](https://github.com/dartsim/dart/pull/658)
  * Fixed bug of `World` concurrency: [#577](https://github.com/dartsim/dart/pull/577), [#576](https://github.com/dartsim/dart/issues/576)

* Misc improvements and bug fixes

  * Added `make_unique<T>` that was omitted from C++11: [#639](https://github.com/dartsim/dart/pull/639)
  * Added missing `override` keywords: [#617](https://github.com/dartsim/dart/pull/617), [#535](https://github.com/dartsim/dart/pull/535)
  * Added gcc warning flag `-Wextra`: [#600](https://github.com/dartsim/dart/pull/600)
  * Improved memory management of `constraint` namespace: [#584](https://github.com/dartsim/dart/pull/584), [#583](https://github.com/dartsim/dart/issues/583)
  * Changed the extension of headers from `.h` to `.hpp`: [#709](https://github.com/dartsim/dart/pull/709), [#693](https://github.com/dartsim/dart/pull/693), [#568](https://github.com/dartsim/dart/issues/568)
  * Changed Doxyfile to gnerate tag file: [#690](https://github.com/dartsim/dart/pull/690)
  * Changed the convention to use `std::size_t` over `size_t`: [#681](https://github.com/dartsim/dart/pull/681), [#656](https://github.com/dartsim/dart/issues/656)
  * Changed CMake to configure preprocessors using `#cmakedefine`: [#648](https://github.com/dartsim/dart/pull/648), [#641](https://github.com/dartsim/dart/pull/641)
  * Updated copyright years: [#679](https://github.com/dartsim/dart/pull/679), [#160](https://github.com/dartsim/dart/issues/160)
  * Renamed directory name `apps` to `examples`: [#685](https://github.com/dartsim/dart/pull/685)
  * Fixed warnings of unused variables in release mode: [#646](https://github.com/dartsim/dart/pull/646)
  * Fixed typo of `getNumPluralAddoName` in utility macro: [#615](https://github.com/dartsim/dart/issues/615)
  * Fixed linker error by adding namespace-scope definitions for `constexpr static` members: [#603](https://github.com/dartsim/dart/pull/603)
  * Fixed segfault from nullptr meshes: [#585](https://github.com/dartsim/dart/pull/585)
  * Fixed typo of tutorial with minor improvements: [#573](https://github.com/dartsim/dart/pull/573)
  * Fixed `NameManager<T>::removeEntries(~)` called a function that does not exist: [#564](https://github.com/dartsim/dart/pull/564), [#554](https://github.com/dartsim/dart/issues/554)
  * Fixed missing definitions for various functions: [#558](https://github.com/dartsim/dart/pull/558), [#555](https://github.com/dartsim/dart/issues/555)
  * Fixed const correctness of `BodyNode::getMomentsOfInertia()`: [#541](https://github.com/dartsim/dart/pull/541), [#540](https://github.com/dartsim/dart/issues/540)
  * Fixed `ftel` bug in Linux with an workaround: [#533](https://github.com/dartsim/dart/pull/533)
  * Removed unnecessary `virtual` keyword for overriding functions: [#680](https://github.com/dartsim/dart/pull/680)
  * Removed deprecated APIs in DART 5: [#678](https://github.com/dartsim/dart/pull/678)

* Build and test issues

  * Added CMake target for code coverage testing, and automatic reporting: [#688](https://github.com/dartsim/dart/pull/688), [#687](https://github.com/dartsim/dart/issues/687), [#638](https://github.com/dartsim/dart/pull/638), [#632](https://github.com/dartsim/dart/pull/632)
  * Added missing `liburdfdom-dev` dependency in Ubuntu package: [#574](https://github.com/dartsim/dart/pull/574)
  * Modulized DART libraries: [#706](https://github.com/dartsim/dart/pull/706), [#675](https://github.com/dartsim/dart/pull/675), [#652](https://github.com/dartsim/dart/pull/652), [#477](https://github.com/dartsim/dart/issues/477)
  * Improved Travis-CI script: [#655](https://github.com/dartsim/dart/pull/655)
  * Improved CMake script by splitting tutorials, examples, and tests into separate targets: [#644](https://github.com/dartsim/dart/pull/644)
  * Improved wording of the cmake warning messages for ASSIMP: [#553](https://github.com/dartsim/dart/pull/553)
  * Changed Travis-CI to treat warning as errors using `-Werror` flags: [#682](https://github.com/dartsim/dart/pull/682), [#677](https://github.com/dartsim/dart/issues/677)
  * Changed Travis-CI to test DART with bullet collision detector: [#650](https://github.com/dartsim/dart/pull/650), [#376](https://github.com/dartsim/dart/issues/376)
  * Changed the minimum requirement of Visual Studio version to 2015: [#592](https://github.com/dartsim/dart/issues/592)
  * Changed CMake to build gui::osg examples when `DART_BUILD_EXAMPLES` is on: [#536](https://github.com/dartsim/dart/pull/536)
  * Simplfied Travis-CI tests for general pushes: [#700](https://github.com/dartsim/dart/pull/700)
  * Fixed Eigen memory alignment issue in testCollision.cpp: [#719](https://github.com/dartsim/dart/pull/719)
  * Fixed `BULLET_INCLUDE_DIRS` in `DARTConfig.cmake`: [#697](https://github.com/dartsim/dart/pull/697)
  * Fixed linking with Bullet on OS X El Capitan by supporting for Bullet built with double precision: [#660](https://github.com/dartsim/dart/pull/660), [#657](https://github.com/dartsim/dart/issues/657)
  * Fixed FCL version check logic in the main `CMakeLists.txt`: [#640](https://github.com/dartsim/dart/pull/640)
  * Fixed `find_package(DART)` on optimizer components: [#637](https://github.com/dartsim/dart/pull/637)
  * Fixed linking against `${DART_LIBRARIES}` not working in Ubuntu 14.04: [#630](https://github.com/dartsim/dart/pull/630), [#629](https://github.com/dartsim/dart/issues/629)
  * Fixed Visual Studio 2015 build errors: [#580](https://github.com/dartsim/dart/pull/580)
  * Removed OpenGL dependency from `dart` library: [#667](https://github.com/dartsim/dart/pull/667)
  * Removed version check for Bullet: [#636](https://github.com/dartsim/dart/pull/636), [#625](https://github.com/dartsim/dart/issues/625)

## DART 5

### Version 5.1.6 (2017-08-08)

1. Improved camera movement of OpenGL GUI: smooth zooming and translation
    * [Pull request #843](https://github.com/dartsim/dart/pull/843)

2. Removed debian meta files from the main DART repository
    * [Pull request #853](https://github.com/dartsim/dart/pull/853)

### Version 5.1.5 (2017-01-20)

1. Fixed Lemke LCP solver for several failing cases
    * [Pull request #808](https://github.com/dartsim/dart/pull/808)

1. Increase minimum required Ipopt version to 3.11.9
    * [Pull request #800](https://github.com/dartsim/dart/pull/800)

1. Added support of urdfdom_headers 1.0 for DART 5.1 (backport of [#766](https://github.com/dartsim/dart/pull/766))
    * [Pull request #799](https://github.com/dartsim/dart/pull/799)

### Version 5.1.4 (2016-10-14)

1. Fixed inconsistent frame rate of GlutWindow
    * [Pull request #794](https://github.com/dartsim/dart/pull/794)

### Version 5.1.3 (2016-10-07)

1. Updated to support Bullet built with double precision (backport of [#660](https://github.com/dartsim/dart/pull/660))
    * [Pull request #777](https://github.com/dartsim/dart/pull/777)

1. Modified to use btGImpactMeshShape instead of btConvexTriangleMeshShape for mesh
    * [Pull request #764](https://github.com/dartsim/dart/pull/764)

1. Updated to support FCL 0.5 and tinyxml 4.0 (backport of [#749](https://github.com/dartsim/dart/pull/749))
    * [Pull request #759](https://github.com/dartsim/dart/pull/759)

### Version 5.1.2 (2016-04-25)

1. Fixed inverse kinematics (backporting)
    * [Pull request #684](https://github.com/dartsim/dart/pull/684)

1. Fixed aligned memory allocation with Eigen objects in loading meshes
    * [Pull request #606](https://github.com/dartsim/dart/pull/606)

1. Fixed incorrect applying joint constraint impulses (backporting)
    * [Pull request #579](https://github.com/dartsim/dart/pull/579)

1. Fixed some build and packaging issues
    * [Pull request #559](https://github.com/dartsim/dart/pull/559)
    * [Pull request #595](https://github.com/dartsim/dart/pull/595)
    * [Pull request #696](https://github.com/dartsim/dart/pull/696)

### Version 5.1.1 (2015-11-06)

1. Add bullet dependency to package.xml
    * [Pull request #523](https://github.com/dartsim/dart/pull/523)

1. Improved handling of missing symbols of Assimp package
    * [Pull request #542](https://github.com/dartsim/dart/pull/542)

1. Improved travis-ci build log for Mac
    * [Pull request #529](https://github.com/dartsim/dart/pull/529)

1. Fixed warnings in Function.cpp
    * [Pull request #550](https://github.com/dartsim/dart/pull/550)

1. Fixed build failures on AppVeyor
    * [Pull request #543](https://github.com/dartsim/dart/pull/543)

1. Fixed const qualification of ResourceRetriever
    * [Pull request #534](https://github.com/dartsim/dart/pull/534)
    * [Issue #532](https://github.com/dartsim/dart/issues/532)

1. Fixed aligned memory allocation with Eigen objects
    * [Pull request #527](https://github.com/dartsim/dart/pull/527)

1. Fixed copy safety for various classes
    * [Pull request #526](https://github.com/dartsim/dart/pull/526)
    * [Pull request #539](https://github.com/dartsim/dart/pull/539)
    * [Issue #524](https://github.com/dartsim/dart/issues/524)

### Version 5.1.0 (2015-10-15)

1. Fixed incorrect rotational motion of BallJoint and FreeJoint
    * [Pull request #518](https://github.com/dartsim/dart/pull/518)

1. Removed old documents: dart-tutorial, programmingGuide
    * [Pull request #515](https://github.com/dartsim/dart/pull/515)

1. Fixed aligned memory allocation with Eigen objects
    * [Pull request #513](https://github.com/dartsim/dart/pull/513)

1. Fixed segfault in Linkage::Criteria
    * [Pull request #491](https://github.com/dartsim/dart/pull/491)
    * [Issue #489](https://github.com/dartsim/dart/issues/489)

1. Improved sdf/urdf parser
    * [Pull request #497](https://github.com/dartsim/dart/pull/497)
    * [Pull request #485](https://github.com/dartsim/dart/pull/485)

1. Fixed CMake warnings
    * [Pull request #483](https://github.com/dartsim/dart/pull/483)

1. Fixed build issues on Windows
    * [Pull request #516](https://github.com/dartsim/dart/pull/516)
    * [Pull request #509](https://github.com/dartsim/dart/pull/509)
    * [Pull request #486](https://github.com/dartsim/dart/pull/486)
    * [Pull request #482](https://github.com/dartsim/dart/pull/482)
    * [Issue #487](https://github.com/dartsim/dart/issues/487)

1. Fixed IpoptSolver bugs
    * [Pull request #481](https://github.com/dartsim/dart/pull/481)

1. Added Frame::getTransform(withRespecTo, inCoordinatesOf)
    * [Pull request #475](https://github.com/dartsim/dart/pull/475)
    * [Issue #471](https://github.com/dartsim/dart/issues/471)

1. Improved API documentation -- set the SHOW_USED_FILES tag to NO
    * [Pull request #474](https://github.com/dartsim/dart/pull/474)

1. Added convenience setters for generalized coordinates of FreeJoint
    * [Pull request #470](https://github.com/dartsim/dart/pull/470)
    * [Pull request #507](https://github.com/dartsim/dart/pull/507)

1. Fixed compilation warnings
    * [Pull request #480](https://github.com/dartsim/dart/pull/480)
    * [Pull request #469](https://github.com/dartsim/dart/pull/469)
    * [Issue #418](https://github.com/dartsim/dart/issues/418)

1. Added a mutex to Skeleton
    * [Pull request #466](https://github.com/dartsim/dart/pull/466)

1. Added generic URIs support
    * [Pull request #464](https://github.com/dartsim/dart/pull/464)
    * [Pull request #517](https://github.com/dartsim/dart/pull/517)

1. Added End Effector, Inverse Kinematics, and osgDart
    * [Pull request #461](https://github.com/dartsim/dart/pull/461)
    * [Pull request #495](https://github.com/dartsim/dart/pull/495)
    * [Pull request #502](https://github.com/dartsim/dart/pull/502)
    * [Pull request #506](https://github.com/dartsim/dart/pull/506)
    * [Pull request #514](https://github.com/dartsim/dart/pull/514)
    * [Issue #381](https://github.com/dartsim/dart/issues/381)
    * [Issue #454](https://github.com/dartsim/dart/issues/454)
    * [Issue #478](https://github.com/dartsim/dart/issues/478)

1. Removed outdated packaging scripts
    * [Pull request #456](https://github.com/dartsim/dart/pull/456)

1. Added initial position and initial velocity properties
    * [Pull request #449](https://github.com/dartsim/dart/pull/449)

1. Added a package.xml file for REP-136 support
    * [Pull request #446](https://github.com/dartsim/dart/pull/446)

1. Improved Linkage and Chain Criteria
    * [Pull request #443](https://github.com/dartsim/dart/pull/443)
    * [Issue #437](https://github.com/dartsim/dart/issues/437)

1. Added Joint::isCyclic to mark SO(2) topology
    * [Pull request #441](https://github.com/dartsim/dart/pull/441)

1. Fixed SEGFAULTs in DartLoader
    * [Pull request #439](https://github.com/dartsim/dart/pull/439)

1. Added the SYSTEM flag to include_directories
    * [Pull request #435](https://github.com/dartsim/dart/pull/435)

1. Improved Joint warning
    * [Pull request #430](https://github.com/dartsim/dart/pull/430)

1. Added tutorials (http://dart.readthedocs.org/)
    * [Pull request #504](https://github.com/dartsim/dart/pull/504)
    * [Pull request #484](https://github.com/dartsim/dart/pull/484)
    * [Pull request #423](https://github.com/dartsim/dart/pull/423)
    * [Pull request #511](https://github.com/dartsim/dart/pull/511)

### Version 5.0.2 (2015-09-28)

1. Fixed bug in Jacobian update notifications
    * [Pull request #500](https://github.com/dartsim/dart/pull/500)
    * [Issue #499](https://github.com/dartsim/dart/issues/499)

### Version 5.0.1 (2015-07-28)

1. Improved app indexing for bipedStand and atlasSimbicon
    * [Pull request #417](https://github.com/dartsim/dart/pull/417)

1. Added clipping command when it exceeds the limits
    * [Pull request #419](https://github.com/dartsim/dart/pull/419)

1. Improved CollisionNode's index validity check
    * [Pull request #421](https://github.com/dartsim/dart/pull/421)

1. Standardized warning messages for Joints
    * [Pull request #425](https://github.com/dartsim/dart/pull/425)
    * [Pull request #429](https://github.com/dartsim/dart/pull/429)

1. Fixed bug in SDF parser -- correct child for a joint
    * [Pull request #431](https://github.com/dartsim/dart/pull/431)

1. Fixed SDF parsing for single link model without joint
    * [Pull request #444](https://github.com/dartsim/dart/pull/444)

1. Added missing virtual destructors to Properties in Entity and [Soft]BodyNode
    * [Pull request #458](https://github.com/dartsim/dart/pull/458)

1. Limited maximum required version of Assimp less than 3.0~dfsg-4
    * [Pull request #459](https://github.com/dartsim/dart/pull/459)

1. Fixed SEGFAULTs in DartLoader
    * [Pull request #472](https://github.com/dartsim/dart/pull/472)

### Version 5.0.0 (2015-06-15)

1. Fixed aligned memory allocation with Eigen objects
    * [Pull request #414](https://github.com/dartsim/dart/pull/414)

1. Added some missing API for DegreeOfFreedom
    * [Pull request #408](https://github.com/dartsim/dart/pull/408)

1. Replaced logMaps with Eigen::AngleAxisd
    * [Pull request #407](https://github.com/dartsim/dart/pull/407)

1. Improved FCL collision detector
    * [Pull request #405](https://github.com/dartsim/dart/pull/405)

1. Removed deprecated API and suppressed warnings
    * [Pull request #404](https://github.com/dartsim/dart/pull/404)

1. Added use of OpenGL's multisample anti-aliasing
    * [Pull request #402](https://github.com/dartsim/dart/pull/402)

1. Added computation of differences of generalized coordinates
    * [Pull request #389](https://github.com/dartsim/dart/pull/389)
    * [Issue #290](https://github.com/dartsim/dart/issues/290)

1. Added deprecated and force-linline definitions for clang
    * [Pull request #384](https://github.com/dartsim/dart/pull/384)
    * [Issue #379](https://github.com/dartsim/dart/issues/379)

1. Eradicated memory leaks and maked classes copy-safe and clonable
    * [Pull request #369](https://github.com/dartsim/dart/pull/369)
    * [Pull request #390](https://github.com/dartsim/dart/pull/390)
    * [Pull request #391](https://github.com/dartsim/dart/pull/391)
    * [Pull request #392](https://github.com/dartsim/dart/pull/392)
    * [Pull request #397](https://github.com/dartsim/dart/pull/397)
    * [Pull request #415](https://github.com/dartsim/dart/pull/415)
    * [Issue #280](https://github.com/dartsim/dart/issues/280)
    * [Issue #339](https://github.com/dartsim/dart/issues/339)
    * [Issue #370](https://github.com/dartsim/dart/issues/370)
    * [Issue #383](https://github.com/dartsim/dart/issues/383)

1. Improved PlaneShape constructors
    * [Pull request #366](https://github.com/dartsim/dart/pull/366)
    * [Pull request #377](https://github.com/dartsim/dart/pull/377)
    * [Issue #373](https://github.com/dartsim/dart/issues/373)

1. Added appveyor options for parallel build and detailed log
    * [Pull request #365](https://github.com/dartsim/dart/pull/365)

1. Improved robustness and package handling for URDF parsing
    * [Pull request #364](https://github.com/dartsim/dart/pull/364)

1. Fixed bug in BodyNode::_updateBodyJacobianSpatialDeriv()
    * [Pull request #363](https://github.com/dartsim/dart/pull/363)

1. Added alpha channel and Color functions
    * [Pull request #359](https://github.com/dartsim/dart/pull/359)
    * [Issue #358](https://github.com/dartsim/dart/issues/358)

1. Added Jacobian getters to Skeleton
    * [Pull request #357](https://github.com/dartsim/dart/pull/357)

1. Added ArrowShape for visualizing arrows
    * [Pull request #356](https://github.com/dartsim/dart/pull/356)

1. Fixed matrix dimension bug in operationalSpaceControl app
    * [Pull request #354](https://github.com/dartsim/dart/pull/354)

1. Added build type definitions
    * [Pull request #353](https://github.com/dartsim/dart/pull/353)

1. Added Signal class
    * [Pull request #350](https://github.com/dartsim/dart/pull/350)

1. Added LineSegmentShape for visualizing line segments
    * [Pull request #349](https://github.com/dartsim/dart/pull/349)
    * [Issue #346](https://github.com/dartsim/dart/issues/346)

1. Fixed segfault in SoftSdfParser
    * [Pull request #345](https://github.com/dartsim/dart/pull/345)

1. Added subscriptions for destructions and notifications
    * [Pull request #343](https://github.com/dartsim/dart/pull/343)

1. Added NloptSolver::[get/set]NumMaxEvaluations()
    * [Pull request #342](https://github.com/dartsim/dart/pull/342)

1. Added support of Eigen::VectorXd in parser
    * [Pull request #341](https://github.com/dartsim/dart/pull/341)

1. Added Skeleton::getNumJoints()
    * [Pull request #335](https://github.com/dartsim/dart/pull/335)

1. Fixed bug in DARTCollide for sphere-sphere collision
    * [Pull request #332](https://github.com/dartsim/dart/pull/332)

1. Fixed naming issues for Skeletons in World
    * [Pull request #331](https://github.com/dartsim/dart/pull/331)
    * [Issue #330](https://github.com/dartsim/dart/issues/330)

1. Added PlanarJoint support for URDF loader
    * [Pull request #326](https://github.com/dartsim/dart/pull/326)

1. Fixed rotation of the inertia reference frame for URDF loader
    * [Pull request #326](https://github.com/dartsim/dart/pull/326)
    * [Issue #47](https://github.com/dartsim/dart/issues/47)

1. Fixed bug in loading WorldFile
    * [Pull request #325](https://github.com/dartsim/dart/pull/325)

1. Added plotting of 2D trajectories
    * [Pull request #324](https://github.com/dartsim/dart/pull/324)

1. Removed unsupported axis orders of EulerJoint
    * [Pull request #323](https://github.com/dartsim/dart/pull/323)
    * [Issue #321](https://github.com/dartsim/dart/issues/321)

1. Added convenience functions to help with setting joint positions
    * [Pull request #322](https://github.com/dartsim/dart/pull/322)
    * [Pull request #338](https://github.com/dartsim/dart/pull/338)

1. Added Frame class and auto-updating for forward kinematics
    * [Pull request #319](https://github.com/dartsim/dart/pull/319)
    * [Pull request #344](https://github.com/dartsim/dart/pull/344)
    * [Pull request #367](https://github.com/dartsim/dart/pull/367)
    * [Pull request #380](https://github.com/dartsim/dart/pull/380)
    * [Issue #289](https://github.com/dartsim/dart/issues/289)
    * [Issue #294](https://github.com/dartsim/dart/issues/294)
    * [Issue #305](https://github.com/dartsim/dart/issues/305)

1. Added Travis-CI build test for OSX
    * [Pull request #313](https://github.com/dartsim/dart/pull/313)
    * [Issue #258](https://github.com/dartsim/dart/issues/258)

1. Added specification of minimum dependency version
    * [Pull request #306](https://github.com/dartsim/dart/pull/306)

## DART 4

### Version 4.3.7 (2018-01-05)

1. Updated DART 4.3 to be compatible with urdf 1.0/tinyxml2 6/flann 1.9.1
    * [Pull request #955](https://github.com/dartsim/dart/pull/955)

### Version 4.3.6 (2016-04-16)

1. Fixed duplicate entries in Skeleton::mBodyNodes causing segfault in destructor
    * [Issue #671](https://github.com/dartsim/dart/issues/671)
    * [Pull request #672](https://github.com/dartsim/dart/pull/672)

### Version 4.3.5 (2016-01-09)

1. Fixed incorrect applying of joint constraint impulses (backported from 6.0.0)
    * [Pull request #578](https://github.com/dartsim/dart/pull/578)

### Version 4.3.4 (2015-01-24)

1. Fixed build issue with gtest on Mac
    * [Pull request #315](https://github.com/dartsim/dart/pull/315)

### Version 4.3.3 (2015-01-23)

1. Fixed joint Coulomb friction
    * [Pull request #311](https://github.com/dartsim/dart/pull/311)

### Version 4.3.2 (2015-01-22)

1. Fixed installation -- missing headers (utils/urdf, utils/sdf)

### Version 4.3.1 (2015-01-21)

1. Fixed API incompatibility introduced by dart-4.3.0
    * [Issue #303](https://github.com/dartsim/dart/issues/303)
    * [Pull request #309](https://github.com/dartsim/dart/pull/309)

### Version 4.3.0 (2015-01-19)

1. Added name manager for efficient name look-up and unique naming
    * [Pull request #277](https://github.com/dartsim/dart/pull/277)
1. Added all-inclusive header and namespace headers
    * [Pull request #278](https://github.com/dartsim/dart/pull/278)
1. Added DegreeOfFreedom class for getting/setting data of individual generalized coordinates
    * [Pull request #288](https://github.com/dartsim/dart/pull/288)
1. Added hybrid dynamics
    * [Pull request #298](https://github.com/dartsim/dart/pull/298)
1. Added joint actuator types
    * [Pull request #298](https://github.com/dartsim/dart/pull/298)
1. Added Coulomb joint friction
    * [Pull request #301](https://github.com/dartsim/dart/pull/301)
1. Migrated to C++11
    * [Pull request #268](https://github.com/dartsim/dart/pull/268)
    * [Pull request #299](https://github.com/dartsim/dart/pull/299)
1. Improved readability of CMake output messages
    * [Pull request #272](https://github.com/dartsim/dart/pull/272)
1. Fixed const-correctneess of member functions
    * [Pull request #277](https://github.com/dartsim/dart/pull/277)
1. Added handling use of 'package:/' in URDF
    * [Pull request #273](https://github.com/dartsim/dart/pull/273)
    * [Issue #271](https://github.com/dartsim/dart/issues/271)

### Version 4.2.1 (2015-01-07)

1. Fixed version numbering of shared libraries in debian packages
    * [Pull request #286](https://github.com/dartsim/dart/pull/286)
1. Fixed Jacobian and its derivatives of FreeJoint/BallJoint
    * [Pull request #284](https://github.com/dartsim/dart/pull/284)

### Version 4.2.0 (2014-11-22)

1. Added reset functions for Simulation and Recording class
    * [Pull request #231](https://github.com/dartsim/dart/pull/231)
1. Added operational space control example
    * [Pull request #257](https://github.com/dartsim/dart/pull/257)
1. Fixed misuse of Bullet collision shapes
    * [Pull request #228](https://github.com/dartsim/dart/pull/228)
1. Fixed adjacent body pair check for Bullet collision detector
    * [Pull request #246](https://github.com/dartsim/dart/pull/246)
1. Fixed incorrect computation of constraint impulse for BallJointConstraint and WeldJointContraint
    * [Pull request #247](https://github.com/dartsim/dart/pull/247)
1. Improved generation of soft box shape for soft body
    * [Commit ec31f44](https://github.com/dartsim/dart/commit/ec31f44)

### Version 4.1.1 (2014-07-17)

1. Added ABI check script
    * [Pull request #226](https://github.com/dartsim/dart/pull/226)
    * [Pull request #227](https://github.com/dartsim/dart/pull/227)
1. Fixed build issues on Linux
    * [Pull request #214](https://github.com/dartsim/dart/pull/214)
    * [Pull request #219](https://github.com/dartsim/dart/pull/219)
1. Fixed build issues on Windows
    * [Pull request #215](https://github.com/dartsim/dart/pull/215)
    * [Pull request #217](https://github.com/dartsim/dart/pull/217)
1. Fixed unintended warning messages
    * [Pull request #220](https://github.com/dartsim/dart/pull/220)

### Version 4.1.0 (2014-07-02)

1. Fixed bug in switching collision detectors
    * [Issue #127](https://github.com/dartsim/dart/issues/127)
    * [Pull request #195](https://github.com/dartsim/dart/pull/195)
1. Fixed kinematics and dynamics when a skeleton has multiple parent-less bodies
    * [Pull request #196](https://github.com/dartsim/dart/pull/196)
1. Fixed issue on installing DART 4 alongside DART 3 on Linux
    * [Issue #122](https://github.com/dartsim/dart/issues/122)
    * [Pull request #203](https://github.com/dartsim/dart/pull/203)
1. Fixed warnings on gcc
    * [Pull request #206](https://github.com/dartsim/dart/pull/206)
1. Renamed getDof() to getNumDofs()
    * [Pull request #209](https://github.com/dartsim/dart/pull/209)
1. Added cylinder shape for soft body
    * [Pull request #210](https://github.com/dartsim/dart/pull/210)

### Version 4.0.0 (2014-06-02)

1. Added implicit joint spring force and damping force
1. Added planar joint
1. Added soft body dynamics
1. Added computation of velocity and acceleration of COM
1. Added bullet collision detector
  * [Pull request #156](https://github.com/dartsim/dart/pull/156)
1. Improved performance of forward dynamics algorithm
  * [Pull request #188](https://github.com/dartsim/dart/pull/188)
1. Improved dynamics API for Skeleton and Joint
  * [Pull request #161](https://github.com/dartsim/dart/pull/161)
  * [Pull request #192](https://github.com/dartsim/dart/pull/192)
  * [Pull request #193](https://github.com/dartsim/dart/pull/193)
1. Improved constraint dynamics solver
  * [Pull request #184](https://github.com/dartsim/dart/pull/184)
1. Improved calculation of equations of motion using Featherstone algorithm
  * [Issue #85](https://github.com/dartsim/dart/issues/87)
1. Improved optimizer interface and added nlopt solver
  * [Pull request #152](https://github.com/dartsim/dart/pull/152)
1. Fixed self collision bug
  * [Issue #125](https://github.com/dartsim/dart/issues/125)
1. Fixed incorrect integration of BallJoint and FreeJoint
  * [Issue #122](https://github.com/dartsim/dart/issues/122)
  * [Pull request #168](https://github.com/dartsim/dart/pull/168)

## DART 3

### Version 3.0 (2013-11-04)

1. Removed Transformation classes. Their functionality is now included in joint classes.
1. Added Featherstone algorithm. Can currently only be used without collision handling. The old algortihm is still present and used for that case.
1. Removed kinematics namespace. Functionality is moved to dynamics classes.
1. Added dart root namespace
1. A lot of function and variable renames
1. Added constraint namespace
1. Added "common" namespace

## DART 2

### Version 2.6 (2013-09-07)

1. Clean-up of build system:
  * Renamed DART_INCLUDEDIR to the standard-compliant DART_INCLUDE_DIRS in CMake files. Users need to adapt their CMake files for this change.
  * Users no longer need to call find_package(DARTExt) in the CMake files. A call to find_package(DART) also finds its dependencies now.
  * Allow user to overwrite installation prefix
  * Add possibility to include DART header files as '#include \<dart/dynamics/Skeleton.h\>' in addition to '#include \<dynamics/Skeleton.h\>'
  * Allow out-of-source builds
1. URDF loader:
  * Major clean-up
  * Consider mesh scaling factor

### Version 2.5 (2013-07-16)

1. Replaced robotics::World with simulation::World
1. Removed robotics::Robot
1. Added simulation::SimWindow
1. Some speed-up of Eigen calculations
1. Added abstract trajectory interface
1. ConstraintDynamics handles contact, joint limit and other constraint forces simultaneously
1. Improved Lemke algorithm for solving LCP
1. Renamed skeletonDynamics::getQDotVector() to getPoseVelocity()
1. Added abstract CollisionDetector interface allowing for multiple different collision detector implementations.
1. Created math namespace
1. Added System class as base class to Skeleton and Joint
1. URDF loader: Removed ability to load nonstandard URDF files with an object tag
1. URDF loader: Removed ability to load nonstandard URDF files with an object tag
1. Added support for multiple shapes per BodyNode
1. Made urdfdom a dependency instead of including it in the DART source
1. Added function to CollisionDetector to let user check a specific pair of BodyNodes for collision

### Version 2.4 (2013-03-05)

1. Mass and inertia are no longer stored in Shape but in BodyNode.
1. Different shapes for collision and visualization (not just different meshes)
1. 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
1. Clean-up of the Robot class
1. Removed Object class
1. More robust build and installation process on Linux