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DART 6.20.0

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•Last updated Jul 13, 2026

Next minor release on the DART 6 LTS line (release-6.20): backports and additive improvements to the classic DART 6 API.

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Add opt-in exact-Coulomb FBF friction solver and fix split-impulse impulse loss

dartsim/dart

#3377

· jslee02 opened

on Jul 11, 2026

Add opt-in memory diagnostics to dart-demos for DART 6

dartsim/dart

#3379

· jslee02 opened

on Jul 11, 2026

Consolidate the native collision engine into the dart detector and make it the default

dartsim/dart

#3381

· jslee02 opened

on Jul 12, 2026

Improve DART 6 deformable-body performance and soft contact

dartsim/dart

#3382

· jslee02 opened

on Jul 12, 2026