DART: Dynamic Animation and Robotics Toolkit

Published February 10, 2026 | Version v6.16.7

Software Open

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

Notes

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

Name	Size	Download all
dartsim/dart-v6.16.7.zip md5:0038aab1097cafdce9e8f7af24066109	17.6 MB	Preview Download

Is supplement to: Software: https://github.com/dartsim/dart/tree/v6.16.7 (URL)