DART 6.17.1

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: v6.17.0...v6.17.1