dartsim 6.14.1

[BrewTestBot]

Created by brew bump

---

Created with brew bump-formula-pr.

release notes

### [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
Improved performance in constructing LCP problem



Full Changelog: dartsim/dart@v6.13.2...v6.14.0

[scpeters]

build failure looks related to FetchContent for googletest:

• https://github.com/dartsim/dart/blob/v6.14.0/tests/CMakeLists.txt#L33-L44

 CMake Error at /opt/homebrew/Library/Homebrew/cmake/trap_fetchcontent_provider.cmake:12 (message):
    Refusing to populate dependency 'googletest' with FetchContent while
    building in Homebrew, please use a formula dependency or add a resource to
    the formula.
  Call Stack (most recent call first):
    /opt/homebrew/Cellar/cmake/3.29.6/share/cmake/Modules/FetchContent.cmake:2017:EVAL:1 (trap_fetchcontent_provider)
    /opt/homebrew/Cellar/cmake/3.29.6/share/cmake/Modules/FetchContent.cmake:2017 (cmake_language)
    tests/CMakeLists.txt:44 (FetchContent_MakeAvailable)

This is new since Homebrew/brew#17310.

I would suggest adding -DBUILD_TESTING=OFF to just skip testing, but I don't think upstream supports that. I'll try submitting a patch to enable BUILD_TESTING

[chenrui333]

I would suggest adding -DBUILD_TESTING=OFF to just skip testing, but I don't think upstream supports that. I'll try submitting a patch to enable BUILD_TESTING

make sense to me.

[chenrui333]

  CMake Warning at cmake/DARTMacros.cmake:145 (message):
    Looking for doxygen - NOT found, to use generating API documentation,
    please install doxygen
  Call Stack (most recent call first):
    cmake/DARTFindDependencies.cmake:141 (dart_check_optional_package)
    CMakeLists.txt:212 (include)
  
  
  CMake Warning at cmake/DARTMacros.cmake:145 (message):
    Looking for pagmo - NOT found, to use dart-optimizer-pagmo, please install
    pagmo
  Call Stack (most recent call first):
    dart/optimizer/pagmo/CMakeLists.txt:3 (dart_check_optional_package)

[scpeters]

I would suggest adding -DBUILD_TESTING=OFF to just skip testing, but I don't think upstream supports that. I'll try submitting a patch to enable BUILD_TESTING

make sense to me.

patch submitted in dartsim/dart#1819

[scpeters]

ok, I didn't notice that it's also using FetchContent for pybind11, this will need an additional change upstream

[scpeters]

ok, I didn't notice that it's also using FetchContent for pybind11, this will need an additional change upstream

or we can also set -DHOMEBREW_ALLOW_FETCHCONTENT=ON as a workaround for now

[jslee02]

ok, I didn't notice that it's also using FetchContent for pybind11, this will need an additional change upstream

DART_BUILD_DARTPY=OFF should prevent that

https://github.com/dartsim/dart/blob/5770b755f465c4d612bb602a410885bd64ab787a/python/CMakeLists.txt#L4-L15

[jslee02]

I would suggest adding -DBUILD_TESTING=OFF to just skip testing, but I don't think upstream supports that. I'll try submitting a patch to enable BUILD_TESTING

make sense to me.

patch submitted in dartsim/dart#1819

Merged and released 6.14.1 with this patch

[scpeters]

I would suggest adding -DBUILD_TESTING=OFF to just skip testing, but I don't think upstream supports that. I'll try submitting a patch to enable BUILD_TESTING

make sense to me.

patch submitted in dartsim/dart#1819

Merged and released 6.14.1 with this patch

thanks @jslee02!

[chenrui333]

Works for me in my local, thanks @scpeters @jslee02!

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