Published July 19, 2026 | Version v6.19.4
Software Open

DART: Dynamic Animation and Robotics Toolkit

Authors/Creators

Description

DART 6.19.4 is a focused patch release on the DART 6 LTS line. It restores source builds that disable the OpenSceneGraph GUI component and adds a deterministic configuration gate for that optional-dependency contract. The only additional maintenance change ignores local .omx/ state.

Build

  • Keep source builds configurable without OpenSceneGraph when DART_BUILD_GUI_OSG=OFF by skipping the OSG-only dynamic_joint_constraints example before it requests osgText. The ASan configuration now explicitly disables OpenSceneGraph discovery so future regressions fail in CI. (#3391, #3387)

Tooling and Docs

  • Ignore local .omx/ state so it is not accidentally committed. (#3391)

Full changelog: https://github.com/dartsim/dart/blob/v6.19.4/CHANGELOG.md - Milestone: https://github.com/dartsim/dart/milestone/103?closed=1

Notes

If you use DART in an academic publication, please consider citing this JOSS Paper as below.

Files

dartsim/dart-v6.19.4.zip

Files (17.8 MB)

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Additional details

Related works

Is supplement to
Software: https://github.com/dartsim/dart/tree/v6.19.4 (URL)

Software

Repository URL
https://github.com/dartsim/dart