Merge branch 'dartsim:release-6.13' into mjcarroll/garden_bazel

.github/workflows/api_doc.yml

@@ -6,6 +6,9 @@ on:
   push:
     branches:
       - "**"
+  pull_request:
+    branches:
+      - "**"
   schedule:
     # Cron syntax: [minute hour day_of_the_month month day_of_the_week]
     - cron: "0 2 * * 0,3" # Run every Sunday and Wednesday at 02:00

.github/workflows/ci_macos.yml

@@ -6,6 +6,9 @@ on:
   push:
     branches:
       - "**"
+  pull_request:
+    branches:
+      - "**"
   schedule:
     # Cron syntax: [minute hour day_of_the_month month day_of_the_week]
     - cron: "0 2 * * 0,3" # Run every Sunday and Wednesday at 02:00

.github/workflows/ci_ubuntu.yml

@@ -6,6 +6,9 @@ on:
   push:
     branches:
       - "**"
+  pull_request:
+    branches:
+      - "**"
   schedule:
     # Cron syntax: [minute hour day_of_the_month month day_of_the_week]
     - cron: "0 2 * * 0,3" # Run every Sunday and Wednesday at 02:00

.github/workflows/ci_windows.yml

@@ -6,6 +6,9 @@ on:
   push:
     branches:
       - "**"
+  pull_request:
+    branches:
+      - "**"
   schedule:
     # Cron syntax: [minute hour day_of_the_month month day_of_the_week]
     - cron: "0 2 * * 0,3" # Run every Sunday and Wednesday at 02:00

CHANGELOG.md

@@ -1,5 +1,23 @@
 ## DART 6
 
+### [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

dart/constraint/JointConstraint.cpp

@@ -238,7 +238,7 @@ void JointConstraint::update()
         // the position error.
 
         const double C1 = mErrorAllowance * A1;
-        double bouncing_vel = -std::max(B1, C1) / timeStep;
+        double bouncing_vel = -std::min(B1, C1) / timeStep;
         assert(bouncing_vel >= 0);
         bouncing_vel = std::min(bouncing_vel, mMaxErrorReductionVelocity);
 
@@ -280,7 +280,7 @@ void JointConstraint::update()
         // the position error.
 
         const double C2 = mErrorAllowance * A2;
-        double bouncing_vel = -std::min(B2, C2) / timeStep;
+        double bouncing_vel = -std::max(B2, C2) / timeStep;
         assert(bouncing_vel <= 0);
         bouncing_vel = std::max(bouncing_vel, -mMaxErrorReductionVelocity);
 

dart/dynamics/BodyNode.cpp

@@ -176,7 +176,10 @@ ConstSkeletonPtr SkeletonRefCountingBase::getSkeleton() const
 /// SET_FLAGS : A version of SKEL_SET_FLAGS that assumes a SkeletonPtr named
 /// 'skel' has already been locked
 #define SET_FLAGS(X)                                                           \
-  skel->mTreeCache[mTreeIndex].mDirty.X = true;                                \
+  if (mTreeIndex != INVALID_INDEX)                                             \
+  {                                                                            \
+    skel->mTreeCache[mTreeIndex].mDirty.X = true;                              \
+  }                                                                            \
   skel->mSkelCache.mDirty.X = true;
 
 /// CHECK_FLAG : Check if the dirty flag X for the tree of this BodyNode is

dart/dynamics/Skeleton.cpp

@@ -2357,6 +2357,13 @@ void Skeleton::registerNode(Node* _newNode)
 //==============================================================================
 void Skeleton::destructOldTree(std::size_t tree)
 {
+  // Invalidate the tree indices of every BodyNode that is being removed
+  DataCache& treeToDestroy = mTreeCache[tree];
+  for (auto& bodyNode : treeToDestroy.mBodyNodes)
+  {
+    bodyNode->mTreeIndex = INVALID_INDEX;
+  }
+
   mTreeCache.erase(mTreeCache.begin() + tree);
   mTreeNodeMaps.erase(mTreeNodeMaps.begin() + tree);
 

dart/gui/osg/Viewer.cpp

@@ -52,6 +52,19 @@ namespace dart {
 namespace gui {
 namespace osg {
 
+std::string toString(CameraMode mode)
+{
+  switch (mode)
+  {
+    case CameraMode::RGBA:
+      return "RGBA";
+    case CameraMode::DEPTH:
+      return "DEPTH";
+    default:
+      return "UNKNOWN";
+  }
+}
+
 class SaveScreen : public ::osg::Camera::DrawCallback
 {
 public:

dart/gui/osg/Viewer.hpp

@@ -83,10 +83,12 @@ enum class CameraMode
 
   /// To render the depth buffer
   ///
-  /// \warning The DEPTH mode currently not compatible with the ImGui wigets.
+  /// \warning The DEPTH mode currently not compatible with the ImGui widgets.
   DEPTH,
 };
 
+[[nodiscard]] std::string toString(CameraMode mode);
+
 DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 class ViewerAttachment : public virtual ::osg::Group
 {

dart/gui/osg/detail/CameraModeCallback.cpp

@@ -131,8 +131,7 @@ void CameraModeCallback::setCameraMode(CameraMode mode)
   if (mode != CameraMode::RGBA && mode != CameraMode::DEPTH)
   {
     DART_WARN(
-        "Unsupported camera mode '{}'. Use RGBA or DEPTH.",
-        static_cast<int>(mode));
+        "Unsupported camera mode '{}'. Use RGBA or DEPTH.", toString(mode));
     return;
   }
 

dart/utils/urdf/urdf_world_parser.cpp

@@ -216,7 +216,7 @@ std::shared_ptr<World> parseWorldURDF(
           auto* origin = entity_xml->FirstChildElement("origin");
           if (origin)
           {
-            if (!parsePose(entity.origin, origin))
+            if (!urdf_parsing::parsePose(entity.origin, origin))
             {
               dtwarn << "[ERROR] Missing origin tag for '"
                      << entity.model->getName() << "'\n";

package.xml

@@ -4,7 +4,7 @@
        a Catkin workspace. Catkin is not required to build DART. For more
        information, see: http://ros.org/reps/rep-0136.html -->
   <name>dartsim</name>
-  <version>6.13.0</version>
+  <version>6.13.1</version>
   <description>
     DART (Dynamic Animation and Robotics Toolkit) is a collaborative,
     cross-platform, open source library created by the Georgia Tech Graphics