Merge branch 'release-6.14' into joint_stuck_at_limit_fix

dartsim · Jun 27, 2024 · 06c7103 · 06c7103
2 parents a18343a + ed209b2
commit 06c7103
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -2,6 +2,18 @@
 
 ## DART 6
 
+### [DART 6.14.1 (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.

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -379,11 +379,13 @@ set(DART_IN_SOURCE_BUILD TRUE)
 if(TARGET dart)
 
   # Add a "tests" target to build unit tests.
-  enable_testing()
-  if(MSVC)
-    add_subdirectory(tests)
-  else()
-    add_subdirectory(tests EXCLUDE_FROM_ALL)
+  include(CTest)
+  if (BUILD_TESTING)
+    if(MSVC)
+      add_subdirectory(tests)
+    else()
+      add_subdirectory(tests EXCLUDE_FROM_ALL)
+    endif()
   endif()
 
   # Add example subdirectories and an "examples" target.
@@ -431,7 +433,10 @@ endif()
 add_subdirectory(python)
 
 # Add 'ALL' target that builds everything
-set(all_target_candidates tests_and_run dartpy pytest)
+set(all_target_candidates dartpy)
+if (BUILD_TESTING)
+  list(APPEND all_target_candidates tests_and_run pytest)
+endif()
 foreach(target_candidate ${all_target_candidates})
   if(TARGET ${target_candidate})
     list(APPEND all_targets ${target_candidate})
@@ -655,18 +660,17 @@ if(DOXYGEN_FOUND)
     COMMAND find "${DOXYGEN_OUTPUT_ROOT}" -type f -name "*.html"
         -exec sed -i 's: doxygen=\"[^\"]*\"::g' {} \\$<SEMICOLON>
     COMMAND ${CMAKE_COMMAND} -E echo "Done."
-    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/doxygen
+    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/docs/doxygen
     DEPENDS ${DOXYGEN_DOXYFILE}
   )
-  # add_custom_target(docs ALL DEPENDS ${DOXYGEN_HTML_INDEX})
   add_custom_target(docs DEPENDS ${DOXYGEN_HTML_INDEX})
   add_custom_target(
     docs_forced
     COMMAND ${CMAKE_COMMAND} -E echo_append "Building API Documentation..."
     COMMAND ${DOXYGEN_EXECUTABLE} -u ${DOXYGEN_DOXYFILE}
     COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_DOXYFILE}
     COMMAND ${CMAKE_COMMAND} -E echo "Done."
-    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/doxygen
+    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/docs/doxygen
   )
 
   # Add the "view_docs" target that opens the generated API documentation.
@@ -687,7 +691,9 @@ endif()
 #===============================================================================
 message(STATUS "")
 message(STATUS "Run 'make' to build all the components")
-message(STATUS "Run 'make tests' to build all the tests")
+if (BUILD_TESTING)
+  message(STATUS "Run 'make tests' to build all the tests")
+endif()
 message(STATUS "Run 'make examples' to build all the examples")
 message(STATUS "Run 'make tutorials' to build all the tutorials")
 message(STATUS "Run 'make view_docs' to see the API documentation")

diff --git a/examples/atlas_puppet/CMakeLists.txt b/examples/atlas_puppet/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/atlas_simbicon/CMakeLists.txt b/examples/atlas_simbicon/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/biped_stand/CMakeLists.txt b/examples/biped_stand/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/box_stacking/CMakeLists.txt b/examples/box_stacking/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/boxes/CMakeLists.txt b/examples/boxes/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/deprecated_examples/glut_add_delete_skels/CMakeLists.txt b/examples/deprecated_examples/glut_add_delete_skels/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/deprecated_examples/glut_atlas_simbicon/CMakeLists.txt b/examples/deprecated_examples/glut_atlas_simbicon/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/deprecated_examples/glut_biped_stand/CMakeLists.txt b/examples/deprecated_examples/glut_biped_stand/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/deprecated_examples/glut_hardcoded_design/CMakeLists.txt b/examples/deprecated_examples/glut_hardcoded_design/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/deprecated_examples/glut_human_joint_limits/CMakeLists.txt b/examples/deprecated_examples/glut_human_joint_limits/CMakeLists.txt
@@ -41,7 +41,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/deprecated_examples/glut_hybrid_dynamics/CMakeLists.txt b/examples/deprecated_examples/glut_hybrid_dynamics/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/deprecated_examples/glut_joint_constraints/CMakeLists.txt b/examples/deprecated_examples/glut_joint_constraints/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/deprecated_examples/glut_mixed_chain/CMakeLists.txt b/examples/deprecated_examples/glut_mixed_chain/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/deprecated_examples/glut_operational_space_control/CMakeLists.txt b/examples/deprecated_examples/glut_operational_space_control/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/deprecated_examples/glut_rigid_chain/CMakeLists.txt b/examples/deprecated_examples/glut_rigid_chain/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/deprecated_examples/glut_rigid_cubes/CMakeLists.txt b/examples/deprecated_examples/glut_rigid_cubes/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/deprecated_examples/glut_rigid_loop/CMakeLists.txt b/examples/deprecated_examples/glut_rigid_loop/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/deprecated_examples/glut_rigid_shapes/CMakeLists.txt b/examples/deprecated_examples/glut_rigid_shapes/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/deprecated_examples/glut_simple_frames/CMakeLists.txt b/examples/deprecated_examples/glut_simple_frames/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/deprecated_examples/glut_soft_bodies/CMakeLists.txt b/examples/deprecated_examples/glut_soft_bodies/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/deprecated_examples/glut_vehicle/CMakeLists.txt b/examples/deprecated_examples/glut_vehicle/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/drag_and_drop/CMakeLists.txt b/examples/drag_and_drop/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/empty/CMakeLists.txt b/examples/empty/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/fetch/CMakeLists.txt b/examples/fetch/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/heightmap/CMakeLists.txt b/examples/heightmap/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/hello_world/CMakeLists.txt b/examples/hello_world/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/hubo_puppet/CMakeLists.txt b/examples/hubo_puppet/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/imgui/CMakeLists.txt b/examples/imgui/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/operational_space_control/CMakeLists.txt b/examples/operational_space_control/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/point_cloud/CMakeLists.txt b/examples/point_cloud/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/rerun/CMakeLists.txt b/examples/rerun/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/rigid_shapes/CMakeLists.txt b/examples/rigid_shapes/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/soft_bodies/CMakeLists.txt b/examples/soft_bodies/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/speed_test/CMakeLists.txt b/examples/speed_test/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})

diff --git a/examples/tinkertoy/CMakeLists.txt b/examples/tinkertoy/CMakeLists.txt
@@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
   return()
 endif()
 
-find_package(DART 6.14.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+find_package(DART 6.14.1 REQUIRED COMPONENTS ${required_components} CONFIG)
 
 file(GLOB srcs "*.cpp" "*.hpp")
 add_executable(${example_name} ${srcs})