DART: Dynamic Animation and Robotics Toolkit 论文

摘要

DART 6.16.7 (2026-02-10) Build Added support for assimp 6.x while maintaining backward compatibility with assimp 5.x: #2510 Dynamics Reject non-finite transforms at Joint public API entry points and guard inertia propagation in kinematic joint variants: #2497 Math Enhance verifyTransform to also reject infinity values (previously only checked NaN): #2497 Optimizer Validate Problem and MultiObjectiveProblem dimension to prevent excessive allocation from huge inputs: #2503 Parsers Replace MJCF parser DART_ASSERT with DART_WARN + identity fallback for non-finite transforms and rotations: #2497