DART: Dynamic Animation and Robotics Toolkit

摘要

DART 6.17.1 is a patch release on the DART 6 LTS line. It hardens the classic DART 6 API against non-finite and degenerate inputs surfaced through gz-physics, so invalid SDF data degrades gracefully (with a warning) instead of aborting. Collision Clamp the ODE heightfield extents, vertical scale, and bounds so an extreme HeightmapShape scale no longer aborts dCollideHeightfield: #2894, gazebosim/gz-physics#847 Dynamics Validate HeightmapShape scale and height-field values, rejecting non-finite and non-positive inputs: #2884, gazebosim/gz-physics#847 Reject non-finite mass and moment of inertia at the Inertia ingest boundary: #2885, gazebosim/gz-physics#854 Initialize Inertia to a valid state before applying a rejected moment, and check only the consumed inertia entries: #2898 Common Demote the duplicate-name auto-rename message to debug verbosity: #2895, gazebosim/gz-physics#725 Build Use pixi for the DART 6 Windows wheel dependencies: #2882 Full changelog: https://github.com/dartsim/dart/compare/v6.17.0...v6.17.1