dartsim 6.18.0

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Created by brew bump

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Created with brew bump-formula-pr.

Details

release notes

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 on kinematic pose changes) so they no longer sink through the supporting surface: #2902, gazebosim/gz-physics#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, gazebosim/gz-physics#719

Full changelog: https://github.com/dartsim/dart/blob/release-6.18/CHANGELOG.md

View the full release notes at https://github.com/dartsim/dart/releases/tag/v6.18.0.

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