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Published January 7, 2026 | Version v6.16.4
Software Open

DART: Dynamic Animation and Robotics Toolkit

Description

  • Physics

    • Fix ODE box-cylinder contact stability with libccd: #2389
    • Fix ODE cylinder mesh fallback on FreeBSD: #2388

  • Parsers

    • Fix URDF shape parsing on FreeBSD: #2379

  • Tooling and Docs

    • Add Alt Linux repro tasks: #2381
    • Add FreeBSD VM repro patches: #2374
    • Update pixi lockfile: #2377
    • Fix cache Docker CI for release-6.16: #2362

Notes

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

Files

dartsim/dart-v6.16.4.zip

Files (17.6 MB)

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md5:6cc5d96339ca1504006641217822473f
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Additional details

Related works

Is supplement to
Software: https://github.com/dartsim/dart/tree/v6.16.4 (URL)

Software

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