Changelog: v1.x and earlier

Brief per-version notes reconstructed from the RaiSim source history.

v1.1.8 (2024-04-07)

  • Sensors: IMU methods, sensor getters/setters, modifiable sensor properties; sensor update no longer user-callable; depth order, IMU and timing fixes.

  • Mutexes for all objects and the world; visual heightmap.

  • Internal contact-count limit, joint velocity limit getter, named generalized-velocity indices; base_link accepted as fixed-base link.

  • Contact solver tuned for pin joints and closed loops; new Cholesky inverse; RK4 (single body), inverse dynamics and fixed-base nonlinearity fixes.

  • Fixed setExternalForce transpose, a contact segfault and transparency; setupSocket takes a port; dynamic visual meshes.

  • GCC builds, Linux debug build, macOS/M1 install fixes.

v1.1.7 (2023-03-31)

  • IMU sensor and inverse dynamics.

  • Dynamic heightmaps with per-vertex colours; collision shape parameter fix.

  • Configurable wire width in visualization.

  • Server protocol update; sensor freeze and parsing fixes.

v1.1.6 (2022-12-04)

  • Improved, faster contact solver.

  • Screenshot method, world-time display, server info on connect, TimedLoop.

  • Body type on object spawn; separate interaction-force function; improved world config files.

  • Fixed wire detach, generalized force errors and server getter ordering.

v1.1.5 (2022-09-20)

  • World::exportToXML takes a single argument.

  • heightOffset option and interaction mode for raisimUnreal.

  • MJCF loading, Windows debug postfix, contact visualization and object focus fixes.

v1.1.4 (2022-08-27)

  • Visual tags (new server mode) and setMap.

  • Sensor API clean-up; sensor frame and timing fixes.

  • Server reports request errors; Linux socket fix; joint-limit and robot visualization fixes.

v1.1.3 (2022-07-24)

  • New server protocol: visual instancing, synchronous mode, sensor data exchange (Unreal-compatible).

  • Non-blocking, safety-checked server socket with version-mismatch warning; collision body changes shown in visualization.

  • raisimODE built with an SOVERSION; setGeneralizedVelocity no longer updates kinematics.

v1.1.2 (2022-03-21)

  • New SAP broad phase and ray test (large speed-up); static friction.

  • Initial sensors (URDF sensor reader, RealSense XML).

  • Velocity limits, spring APIs, Jacobian time derivative; external force/torque in body frame; URDF pin joints.

  • MJCF fixes (multiple joints, Euler order, refs, transparency); Cassie and Digit examples; default base joint is fixed.

  • getBodyIdx/getFrameIdx return -1 when not found; heightmap and ray test fixes.

  • License tooling fixes; SOVERSION library versioning; Apple M1 CMake fix.

v1.1.0 (2021-07-01)

  • New ABA dynamics with contacts, joint limits and external forces; large speed-up.

  • Simplified contact solver; working self-collision.

  • MJCF reader (frames, defaults, assets/materials, ground, single bodies).

  • Fast Cholesky inverse; velocity computation separated from kinematics.

v1.0.5 (2021-04-29)

  • Server: video recording, ghost robots, external/contact force visualization, live visual shape changes, COM display.

  • XML: recursive compounds, wires, parameters with unresolved-name checks, lower-case element aliases.

  • setExternalForce variants, clear external force/torque, PD getters, setColor, custom wires, joint-limit check, dynamic collision groups; getLinkCOM → getBodyCOM; setLicenseFile → setActivationKey.

  • RK4 integration (no contact), new articulated-system constructor, constraint/spring fixes, URDF materials.

  • Activation-key licensing (searched in ~/.raisim); Windows and Apple M1 support; bundled Eigen.

v1.0.0 (2020-05-04)

  • New math library and frame Jacobians; Bullet and Python dependencies removed.

  • Worlds from XML (compounds, [THIS_DIR], time step); capsule-box collision; heightmap normals and ray collision.

  • PD controller fixes, torque limits; base-only URDFs.

  • LTO (~15% faster); C++14; Windows, MATLAB and raisimUnity compatibility.

v0.7.0 (2020-01-07)

  • World loading from XML (articulated systems, heightmaps, meshes, visuals, object classes).

  • Server: add/remove visual objects, hibernate()/wakeup(), float data transfer.

  • Ray test; cleaned-up frame/joint methods; compliant wire, contact force and heightmap position fixes.

  • Removed setBasePos/setBaseOrientation; print movable joints.

v0.6.0 (2019-10-29)

  • Link/joint reference interface; access to collision and visual object sets.

  • setExternalTorque; multiple articulated systems per URDF; URDF from string.

  • Server: configurable port, serialized contacts; getObject by index.

  • rpath on binaries; getGravity is const.

v0.5.0 (2019-09-27)

  • Improved ERP.

  • Mesh objects in the server; capsule and half-space server fixes.

  • Joint order fix; missing resource directory is a warning.

v0.4.x (2019-08-23 – 2019-09-06)

  • 0.4.3: sparsity pattern fix.

  • 0.4.2: ODE built as a shared library.

  • 0.4.1: no space argument in the articulated-system constructor; matrix () operator.

  • 0.4.0: mesh single bodies; more visualization methods.

v0.3.x (2019-08-13 – 2019-08-21)

  • 0.3.1: dimension sanity checks.

  • 0.3.0: _W suffix removed from method names.

v0.2.x (2019-07-13 – 2019-08-07)

  • 0.2.1: shared library; change collision shape parameters, set material, get collision bodies by name, base pose getters; Python binding headers.

  • 0.2.0: material system (setDefaultMaterial, setMaterialPairProp); objects/wires by name; actuation limits; actual generalized force getter.

v0.1.x (2019-04-10 – 2019-05-10)

  • 0.1.2: heightmap from PNG; joint frame and solver state getters.

  • 0.1.0: first versioned release — articulated systems, single bodies, compounds, heightmaps, meshes, wires; remote visualization server; Python interface.