diff --git a/.appveyor.yml b/.appveyor.yml
index d2f70f5a4b5d7..6630d7b278df8 100644
--- a/.appveyor.yml
+++ b/.appveyor.yml
@@ -2,7 +2,7 @@
 version: "{build}"
 
 image:
-  - Visual Studio 2017
+  - Visual Studio 2019
   # - Ubuntu1604
   # - Ubuntu1804
 
@@ -13,13 +13,13 @@ environment:
   MSVC_DEFAULT_OPTIONS: ON
   CMAKE_TOOLCHAIN_FILE: -DCMAKE_TOOLCHAIN_FILE="C:\tools\vcpkg\scripts\buildsystems\vcpkg.cmake"
   matrix:
-    - CMAKE_GENERATOR: -G"Visual Studio 15 2017 Win64"
-      CMAKE_TOOLCHAIN: -T"v141"
+    - CMAKE_GENERATOR: -G"Visual Studio 16 2019"
+      CMAKE_TOOLCHAIN: -T"v142"
 
 # build configuration, i.e. Debug, Release, etc.
 configuration:
   - Debug
-  - Release
+  # - Release
 
 # scripts that are called at very beginning, before repo cloning
 init:
@@ -52,8 +52,10 @@ install:
   - cmd: vcpkg install --recurse --triplet %VCPKG_ARCH% assimp boost-system boost-filesystem ccd eigen3 fcl
 
   # install optional dependencies
-  #- vcpkg install --recurse --triplet %VCPKG_ARCH% bullet3 flann freeglut nlopt ode opengl osg tinyxml2 urdfdom
-  #- vcpkg install ipopt:%VCPKG_ARCH%
+  # 'dart-utils' needs tinyxml2 and boost algorithm/lexical-cast
+  #   and also boost-math to resolve a circular dependency with lexical-cast
+  - cmd: vcpkg install --recurse --triplet %VCPKG_ARCH% boost-algorithm boost-lexical-cast boost-math bullet3 freeglut ode opengl tinyxml2
+  #- vcpkg install --recurse --triplet %VCPKG_ARCH% flann ipopt nlopt osg urdfdom
 
   - cmd: vcpkg integrate install
   - cmd: cd "%APPVEYOR_BUILD_FOLDER%"
@@ -63,7 +65,7 @@ install:
   #-------------------------------
   - sh: sudo apt-get update
   - sh: sudo apt-get --yes install build-essential cmake pkg-config git
-  - sh: sudo apt-get --yes install libeigen3-dev libassimp-dev libccd-dev libfcl-dev libboost-regex-dev libboost-system-dev
+  - sh: sudo apt-get --yes install libeigen3-dev libassimp-dev libccd-dev libfcl-dev libboost-system-dev
   - sh: sudo apt-get --yes install libnlopt-dev coinor-libipopt-dev libbullet-dev libflann-dev libtinyxml2-dev liburdfdom-dev libxi-dev libxmu-dev freeglut3-dev libopenscenegraph-dev
   - sh: sudo apt-get --yes install clang-format-6.0
 
@@ -76,8 +78,8 @@ build_script:
   # Windows 10
   #------------------
   - cmd: mkdir build && cd build
-  - cmd: cmake %CMAKE_GENERATOR% -DCMAKE_BUILD_TYPE=%configuration% -DDART_MSVC_DEFAULT_OPTIONS="%MSVC_DEFAULT_OPTIONS%" %CMAKE_TOOLCHAIN_FILE% %CMAKE_TOOLCHAIN% ..
-  # - cmd: cmake --build . --target ALL_BUILD --config %configuration% -- /maxcpucount:4 /verbosity:quiet
+  - cmd: cmake %CMAKE_GENERATOR% -A x64 -DCMAKE_BUILD_TYPE=%configuration% -DDART_VERBOSE=ON -DDART_MSVC_DEFAULT_OPTIONS="%MSVC_DEFAULT_OPTIONS%" %CMAKE_TOOLCHAIN_FILE% %CMAKE_TOOLCHAIN% ..
+  # - cmd: cmake --build . --target ALL_BUILD --config %configuration% -- /maxcpucount:4
 
   #-------------------------------
   # Ubuntu 16.04 LTS && 18.04 LTS
diff --git a/.azure-pipelines.yml b/.azure-pipelines.yml
index a8cdb13d4191e..00996d3f372ec 100644
--- a/.azure-pipelines.yml
+++ b/.azure-pipelines.yml
@@ -2,23 +2,23 @@
 # Ref: https://docs.microsoft.com/en-us/azure/devops/pipelines
 
 jobs:
-- job: xenial_gcc_release
+- job: xenial_gcc_debug
+  timeoutInMinutes: 120
   pool:
     vmImage: 'ubuntu-16.04'
   variables:
-    OS_NAME: linux
     COMPILER: gcc
-    BUILD_TYPE: Release
+    BUILD_TYPE: Debug
     BUILD_DIR: $(Build.SourcesDirectory)
     DOCKERFILE: Dockerfile.ubuntu-xenial
   steps:
   - template: .ci/azure-pipelines/docker.yml
 
 - job: bionic_gcc_debug
+  timeoutInMinutes: 120
   pool:
     vmImage: 'ubuntu-16.04'
   variables:
-    OS_NAME: linux
     COMPILER: gcc
     BUILD_TYPE: Debug
     BUILD_DIR: $(Build.SourcesDirectory)
@@ -26,77 +26,11 @@ jobs:
   steps:
   - template: .ci/azure-pipelines/docker.yml
 
-- job: bionic_gcc_dartpy_release
-  pool:
-    vmImage: 'ubuntu-16.04'
-  variables:
-    OS_NAME: linux
-    COMPILER: gcc
-    BUILD_TYPE: Release
-    BUILD_DARTPY: ON
-    BUILD_DIR: $(Build.SourcesDirectory)
-    DOCKERFILE: Dockerfile.ubuntu-bionic
-  steps:
-  - template: .ci/azure-pipelines/docker.yml
-  timeoutInMinutes: 0
-
-- job: disco_gcc_debug
-  pool:
-    vmImage: 'ubuntu-16.04'
-  variables:
-    OS_NAME: linux
-    COMPILER: gcc
-    BUILD_TYPE: Debug
-    BUILD_DIR: $(Build.SourcesDirectory)
-    DOCKERFILE: Dockerfile.ubuntu-disco
-  steps:
-  - template: .ci/azure-pipelines/docker.yml
-
-- job: disco_gcc_dartpy_release
-  pool:
-    vmImage: 'ubuntu-16.04'
-  variables:
-    OS_NAME: linux
-    COMPILER: gcc
-    BUILD_TYPE: Release
-    BUILD_DARTPY: ON
-    BUILD_DIR: $(Build.SourcesDirectory)
-    DOCKERFILE: Dockerfile.ubuntu-disco
-  steps:
-  - template: .ci/azure-pipelines/docker.yml
-  timeoutInMinutes: 0
-
-- job: eoan_gcc_debug
+- job: catalina_clang_debug
+  timeoutInMinutes: 120
   pool:
-    vmImage: 'ubuntu-16.04'
+    vmImage: 'macOS-10.15'
   variables:
-    OS_NAME: linux
-    COMPILER: gcc
-    BUILD_TYPE: Debug
-    BUILD_DIR: $(Build.SourcesDirectory)
-    DOCKERFILE: Dockerfile.ubuntu-eoan
-  steps:
-  - template: .ci/azure-pipelines/docker.yml
-
-- job: eoan_gcc_dartpy_release
-  pool:
-    vmImage: 'ubuntu-16.04'
-  variables:
-    OS_NAME: linux
-    COMPILER: gcc
-    BUILD_TYPE: Release
-    BUILD_DARTPY: ON
-    BUILD_DIR: $(Build.SourcesDirectory)
-    DOCKERFILE: Dockerfile.ubuntu-eoan
-  steps:
-  - template: .ci/azure-pipelines/docker.yml
-  timeoutInMinutes: 0
-
-- job: mojav_clang_debug
-  pool:
-    vmImage: 'macOS-10.14'
-  variables:
-    OS_NAME: osx
     BUILD_TYPE: Debug
     BUILD_DIR: $(Build.SourcesDirectory)
   steps:
@@ -106,54 +40,3 @@ jobs:
   - script: |
       '.ci/script.sh'
     displayName: 'Script'
-
-- job: mojav_clang_dartpy_release
-  pool:
-    vmImage: 'macOS-10.14'
-  variables:
-    OS_NAME: osx
-    BUILD_TYPE: Release
-    BUILD_DARTPY: ON
-    BUILD_DIR: $(Build.SourcesDirectory)
-  steps:
-  - script: |
-      '.ci/install.sh'
-    displayName: 'Install'
-  - script: |
-      '.ci/script.sh'
-    displayName: 'Script'
-
-- job: windows_vs2019_x64
-  pool:
-    vmImage: 'windows-2019'
-  timeoutInMinutes: 0
-  strategy:
-    matrix:
-      # Debug64:
-      #   CONFIGURATION: 'Debug'
-      Release64:
-        CONFIGURATION: 'Release'
-  variables:
-    VCPKG_INSTALL_ROOT: $(Build.SourcesDirectory)\vcpkg
-    VCPKG_ARCH: 'x64-windows'
-    VCPKG_PACKAGES: 'assimp boost-system boost-filesystem ccd eigen3 fcl'
-    BUILD_TOOLSET_VERSION: '142'
-    CMAKE_GENERATOR: 'Visual Studio 16 2019'
-  steps:
-  - script: |
-      git clone -q --depth 1 https://github.com/microsoft/vcpkg.git $(VCPKG_INSTALL_ROOT)
-      $(VCPKG_INSTALL_ROOT)\bootstrap-vcpkg.bat
-    displayName: 'Install vcpkg'
-  - script: |
-      $(VCPKG_INSTALL_ROOT)\vcpkg.exe install --recurse --triplet $(VCPKG_ARCH) $(VCPKG_PACKAGES)
-      $(VCPKG_INSTALL_ROOT)\vcpkg.exe integrate install
-    displayName: 'Install dependencies'
-  - script: |
-      cmake --version
-      mkdir build
-      cd build
-      cmake .. -G "$(CMAKE_GENERATOR)" -A x64 -DCMAKE_BUILD_TYPE=$(CONFIGURATION) -Wno-dev -T "v$(BUILD_TOOLSET_VERSION),host=x64" -DVCPKG_TARGET_TRIPLET=$(VCPKG_ARCH) -DCMAKE_TOOLCHAIN_FILE="$(VCPKG_INSTALL_ROOT)/scripts/buildsystems/vcpkg.cmake" -DCMAKE_INSTALL_PREFIX="$(Build.BinariesDirectory)/$(REPO_NAME)" -DDART_MSVC_DEFAULT_OPTIONS=ON
-      cmake --build . --target ALL_BUILD --config $(CONFIGURATION) -- /maxcpucount:4
-    displayName: 'Build'
-    workingDirectory: '$(Build.SourcesDirectory)'
-
diff --git a/.ci/azure-pipelines/native.yml b/.ci/azure-pipelines/native.yml
index aafbdc1f272ea..ad1c9f32d37cf 100644
--- a/.ci/azure-pipelines/native.yml
+++ b/.ci/azure-pipelines/native.yml
@@ -3,8 +3,8 @@ parameters:
 
 steps:
 - script: |
-    ./.ci/install.sh
+    sudo -E ./.ci/install.sh
   displayName: 'Install'
 - script: |
-    ./.ci/script.sh -j${{ parameters.numThreads }}
+    sudo -E ./.ci/script.sh -j${{ parameters.numThreads }}
   displayName: 'Script'
diff --git a/.ci/docker/Dockerfile.ubuntu-cosmic b/.ci/docker/Dockerfile.ubuntu-cosmic
deleted file mode 100644
index b763c1ed02888..0000000000000
--- a/.ci/docker/Dockerfile.ubuntu-cosmic
+++ /dev/null
@@ -1 +0,0 @@
-FROM ubuntu:cosmic
diff --git a/.ci/docker/Dockerfile.ubuntu-disco b/.ci/docker/Dockerfile.ubuntu-disco
deleted file mode 100644
index fecc436b8dfe1..0000000000000
--- a/.ci/docker/Dockerfile.ubuntu-disco
+++ /dev/null
@@ -1 +0,0 @@
-FROM ubuntu:disco
diff --git a/.ci/docker/Dockerfile.ubuntu-eoan b/.ci/docker/Dockerfile.ubuntu-eoan
deleted file mode 100644
index af943c6977ada..0000000000000
--- a/.ci/docker/Dockerfile.ubuntu-eoan
+++ /dev/null
@@ -1 +0,0 @@
-FROM ubuntu:eoan
diff --git a/.ci/docker/env.list b/.ci/docker/env.list
index 6264bf6bdc8ae..d2d3abf971c7a 100644
--- a/.ci/docker/env.list
+++ b/.ci/docker/env.list
@@ -1,6 +1,5 @@
 REPO_SLUG
 IS_PULL_REQUEST
-OS_NAME
 BUILD_DIR
 
 COMPILER
@@ -9,5 +8,5 @@ BUILD_TYPE
 BUILD_DARTPY
 BUILD_DOCS
 CODECOV
-SUDO
+DOCKERFILE
 BUILD_DARTPY
diff --git a/.ci/install.sh b/.ci/install.sh
index 2ccc7588dd3cf..5809b08b32c9e 100755
--- a/.ci/install.sh
+++ b/.ci/install.sh
@@ -1,5 +1,8 @@
 #!/usr/bin/env bash
 set -ex
 
-if [ "$OS_NAME" = "linux" ]; then '.ci/install_linux.sh' ; fi
-if [ "$OS_NAME" = "osx"   ]; then '.ci/install_osx.sh'   ; fi
+if [ "${OSTYPE//[0-9.]/}" == "linux-gnu" ]; then
+  '.ci/install_linux.sh'
+elif [ "${OSTYPE//[0-9.]/}" == "darwin"  ]; then
+  '.ci/install_osx.sh'
+fi
diff --git a/.ci/install_linux.sh b/.ci/install_linux.sh
index 6158621c8cb86..74704383f4fad 100755
--- a/.ci/install_linux.sh
+++ b/.ci/install_linux.sh
@@ -1,13 +1,29 @@
 #!/usr/bin/env bash
 set -ex
 
-$SUDO apt-get -qq update
-$SUDO apt-get -y install lsb-release software-properties-common
-$SUDO apt-add-repository -y ppa:dartsim/ppa
-$SUDO apt-get -qq update
+# Sanity checks for required environment variables.
+if [ -z "$BUILD_DARTPY" ]; then
+  echo "Info: Environment variable BUILD_DARTPY is unset. Using OFF by default."
+  BUILD_DARTPY=OFF
+fi
+
+if [ -z "$BUILD_DOCS" ]; then
+  echo "Info: Environment variable BUILD_DOCS is unset. Using OFF by default."
+  BUILD_DOCS=OFF
+fi
+
+if [ -z "$COMPILER" ]; then
+  echo "Info: Environment variable COMPILER is unset. Using gcc by default."
+  COMPILER=gcc
+fi
+
+apt-get -qq update
+apt-get -y install lsb-release software-properties-common
+apt-add-repository -y ppa:dartsim/ppa
+apt-get -qq update
 
 # Build tools
-$SUDO apt-get -y install \
+apt-get install -y --no-install-recommends \
   sudo \
   build-essential \
   cmake \
@@ -15,21 +31,24 @@ $SUDO apt-get -y install \
   curl \
   git
 if [ $COMPILER = clang ]; then
-  $SUDO apt-get -qq -y install clang
+  apt-get -qq -y install clang
 fi
 
 # Required dependencies
-$SUDO apt-get -y install \
+apt-get install -y --no-install-recommends \
   libassimp-dev \
   libboost-filesystem-dev \
-  libboost-regex-dev \
   libboost-system-dev \
   libccd-dev \
   libeigen3-dev \
   libfcl-dev
 
+# Required dependencies for building API documentation of DART < 6.10
+apt-get install -y --no-install-recommends \
+  libboost-regex-dev
+
 # Optional dependencies
-$SUDO apt-get -y install \
+apt-get install -y --no-install-recommends \
   freeglut3-dev \
   libxi-dev \
   libxmu-dev \
@@ -41,58 +60,47 @@ $SUDO apt-get -y install \
   liburdfdom-dev \
   liburdfdom-headers-dev \
   libopenscenegraph-dev
-if [ $(lsb_release -sc) = "xenial" ]; then
-  $SUDO apt-get -y install libnlopt-dev
-  $SUDO apt-get -y install liboctomap-dev libode-dev
-elif [ $(lsb_release -sc) = "bionic" ]; then
-  $SUDO apt-get -y install libnlopt-dev
-  $SUDO apt-get -y install liboctomap-dev libode-dev
-  $SUDO apt-get -y install clang-format-6.0
-elif [ $(lsb_release -sc) = "cosmic" ]; then
-  $SUDO apt-get -y install libnlopt-cxx-dev
-  $SUDO apt-get -y install liboctomap-dev libode-dev
-elif [ $(lsb_release -sc) = "disco" ]; then
-  $SUDO apt-get -y install libnlopt-cxx-dev
-  $SUDO apt-get -y install liboctomap-dev libode-dev
-elif [ $(lsb_release -sc) = "eoan" ]; then
-  $SUDO apt-get -y install libnlopt-cxx-dev
-  $SUDO apt-get -y install liboctomap-dev libode-dev
+if [ $(lsb_release -sc) = "xenial" ] || [ $(lsb_release -sc) = "bionic" ]; then
+  apt-get install -y --no-install-recommends \
+    libnlopt-dev \
+    liboctomap-dev \
+    libode-dev \
+    clang-format-6.0
+elif [ $(lsb_release -sc) = "focal" ]; then
+  apt-get install -y --no-install-recommends \
+    libnlopt-cxx-dev \
+    liboctomap-dev \
+    libode-dev \
+    clang-format-6.0
+elif [ $(lsb_release -sc) = "groovy" ]; then
+  apt-get install -y --no-install-recommends \
+    libnlopt-cxx-dev \
+    liboctomap-dev \
+    libode-dev
 else
   echo -e "$(lsb_release -sc) is not supported."
   exit 1
 fi
 
 if [ "$BUILD_DARTPY" = "ON" ]; then
-  $SUDO apt-get -y install python3-dev python3-numpy
-  $SUDO apt-get -y install python3-pip -y
-  $SUDO pip3 install pytest -U
+  apt-get install -y --no-install-recommends \
+    python3-dev \
+    python3-numpy \
+    python3-pip \
+    python3-setuptools
+  pip3 install pytest -U
 
-  if [ $(lsb_release -sc) = "xenial" ]; then
-    git clone https://github.com/pybind/pybind11 -b 'v2.2.4' --single-branch --depth 1
+  if [ $(lsb_release -sc) = "xenial" ] || [ $(lsb_release -sc) = "bionic" ]; then
+    git clone https://github.com/pybind/pybind11 -b 'v2.3.0' --single-branch --depth 1
     cd pybind11
     mkdir build
     cd build
     cmake .. -DCMAKE_BUILD_TYPE=Release -DPYBIND11_TEST=OFF
     make -j4
-    $SUDO make install
+    make install
     cd ../..
-  elif [ $(lsb_release -sc) = "bionic" ]; then
-    git clone https://github.com/pybind/pybind11 -b 'v2.2.4' --single-branch --depth 1
-    cd pybind11
-    mkdir build
-    cd build
-    cmake .. -DCMAKE_BUILD_TYPE=Release -DPYBIND11_TEST=OFF
-    make -j4
-    $SUDO make install
-    cd ../..
-  elif [ $(lsb_release -sc) = "cosmic" ]; then
-    $SUDO apt-get -y install pybind11-dev python3 libpython3-dev python3-pytest \
-      python3-distutils
-  elif [ $(lsb_release -sc) = "disco" ]; then
-    $SUDO apt-get -y install pybind11-dev python3 libpython3-dev python3-pytest \
-      python3-distutils
-  elif [ $(lsb_release -sc) = "eoan" ]; then
-    $SUDO apt-get -y install pybind11-dev python3 libpython3-dev python3-pytest \
+  elif [ $(lsb_release -sc) = "focal" ] || [ $(lsb_release -sc) = "groovy" ]; then
+    apt-get -y install pybind11-dev python3 libpython3-dev python3-pytest \
       python3-distutils
   else
     echo -e "$(lsb_release -sc) is not supported."
@@ -100,8 +108,8 @@ if [ "$BUILD_DARTPY" = "ON" ]; then
   fi
 fi
 
-$SUDO apt-get -y install lcov
+apt-get install -y --no-install-recommends lcov
 
 if [ $BUILD_DOCS = "ON" ]; then
-  $SUDO apt-get -qq -y install doxygen
+  apt-get install -y --no-install-recommends doxygen
 fi
diff --git a/.ci/install_osx.sh b/.ci/install_osx.sh
index 13c5e927cd6de..1955659596ec9 100755
--- a/.ci/install_osx.sh
+++ b/.ci/install_osx.sh
@@ -2,6 +2,7 @@
 set -ex
 
 brew update > /dev/null
-brew bundle
+brew bundle || brew bundle
+brew install open-scene-graph --HEAD  # install master branch until 3.7.0 is released
 
-pip3 install -U pytest
+pip3 install -U numpy pytest
diff --git a/.ci/script.sh b/.ci/script.sh
index cdfc6f8b03498..a1ac9ff9c5fcb 100755
--- a/.ci/script.sh
+++ b/.ci/script.sh
@@ -7,6 +7,16 @@ if [ -z "$BUILD_TYPE" ]; then
   exit 1
 fi
 
+if [ -z "$RUN_TESTS" ]; then
+  echo "Info: Environment variable RUN_TESTS is unset. Using ON by default."
+  RUN_TESTS=ON
+fi
+
+if [ -z "$RUN_INSTALL_TEST" ]; then
+  echo "Info: Environment variable RUN_INSTALL_TEST is unset. Using ON by default."
+  RUN_INSTALL_TEST=ON
+fi
+
 if [ -z "$BUILD_DARTPY" ]; then
   echo "Info: Environment variable BUILD_DARTPY is unset. Using OFF by default."
   BUILD_DARTPY=OFF
@@ -17,14 +27,19 @@ if [ -z "$BUILD_DOCS" ]; then
   BUILD_DOCS=OFF
 fi
 
+if [ -z "$COMPILER" ]; then
+  echo "Info: Environment variable COMPILER is unset. Using gcc by default."
+  COMPILER=gcc
+fi
+
 if [ -z "$CODECOV" ]; then
   echo "Info: Environment variable CODECOV is unset. Using OFF by default."
   CODECOV=OFF
 fi
 
-if [ -z "$OS_NAME" ]; then
-  echo "Error: Environment variable OS_NAME is unset."
-  exit 1
+if [ -z "$BUILD_DIR" ]; then
+  echo "Error: Environment variable BUILD_DIR is unset. Using $PWD by default."
+  BUILD_DIR=$PWD
 fi
 
 # Set number of threads for parallel build
@@ -64,7 +79,7 @@ fi
 
 mkdir build && cd build
 
-if [ "$OS_NAME" = "linux" ]; then
+if [ "$OSTYPE" = "linux-gnu" ]; then
   install_prefix_option="-DCMAKE_INSTALL_PREFIX=/usr/"
 fi
 
@@ -83,34 +98,36 @@ if [ "$BUILD_DARTPY" = "ON" ]; then
 else
   if [ "$CODECOV" = "ON" ]; then
     make -j$num_threads all tests
-  else
+  elif [ "$RUN_TESTS" = "ON" ]; then
     make -j$num_threads all tutorials examples tests
   fi
 
-  if [ "$OS_NAME" = "linux" ] && [ $(lsb_release -sc) = "bionic" ]; then
+  if [ "$OSTYPE" = "linux-gnu" ] && [ $(lsb_release -sc) = "bionic" ]; then
     make check-format
   fi
 
   if [ $CODECOV = "ON" ]; then
     make -j$num_threads codecov
-  else
+  elif [ "$RUN_TESTS" = "ON" ]; then
     ctest --output-on-failure -j$num_threads
   fi
 fi
 
-# Make sure we can install with no issues
-$SUDO make -j$num_threads install
+if [ "$RUN_INSTALL_TEST" = "ON" ]; then
+  # Make sure we can install with no issues
+  make -j$num_threads install
 
-if [ "$BUILD_DARTPY" = "ON" ]; then
-  # Run a python example (experimental)
   if [ "$BUILD_DARTPY" = "ON" ]; then
-    cd $BUILD_DIR/python/examples/hello_world
-    python3 main.py
+    # Run a python example (experimental)
+    if [ "$BUILD_DARTPY" = "ON" ]; then
+      cd $BUILD_DIR/python/examples/hello_world
+      python3 main.py
+    fi
+  else
+    # Build an example using installed DART
+    cd $BUILD_DIR/examples/hello_world
+    mkdir build && cd build
+    cmake ..
+    make -j$num_threads
   fi
-else
-  # Build an example using installed DART
-  cd $BUILD_DIR/examples/hello_world
-  mkdir build && cd build
-  cmake ..
-  make -j$num_threads
 fi
diff --git a/.ci/travis/docs_versions.txt b/.ci/travis/docs_versions.txt
index 1919d1944a5ab..b5bc5d09eeeff 100644
--- a/.ci/travis/docs_versions.txt
+++ b/.ci/travis/docs_versions.txt
@@ -1,5 +1,5 @@
 DART 6
-v6.9.2
+v6.9.3
 v6.8.5
 v6.7.3
 v6.6.2
diff --git a/.travis.yml b/.travis.yml
index 33792fa04bf84..43ad6f5ad4815 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -11,7 +11,6 @@ env:
   global:
     - REPO_SLUG=$TRAVIS_REPO_SLUG
     - IS_PULL_REQUEST=$TRAVIS_PULL_REQUEST
-    - OS_NAME=$TRAVIS_OS_NAME
     - BUILD_DIR=$TRAVIS_BUILD_DIR
     - BUILD_DARTPY=OFF
     - CODECOV=OFF
@@ -22,9 +21,8 @@ matrix:
     - os: linux
       env:
         - BUILD_NAME=XENIAL_DEBUG_CODECOV
-        - SUDO=sudo
         - BUILD_TYPE=Debug
-        - COMPILER=GCC
+        - COMPILER=gcc
         - CODECOV=ON
 
     - os: linux
@@ -32,74 +30,31 @@ matrix:
         - BUILD_NAME=XENIAL_32BIT_DEBUG_CODECOV
         - DOCKERFILE="Dockerfile.ubuntu-xenial-32bit"
         - BUILD_TYPE=Release  # TODO: Tests fail in debug mode
-        - COMPILER=GCC
-        - CODECOV=ON
-      services: docker
-
-    - os: linux
-      env:
-        - BUILD_NAME=BIONIC_RELEASE
-        - DOCKERFILE="Dockerfile.ubuntu-bionic"
-        - BUILD_TYPE=Release
-        - COMPILER=GCC
-      services: docker
-
-    - os: linux
-      env:
-        - BUILD_NAME=DISCO_RELEASE
-        - DOCKERFILE="Dockerfile.ubuntu-disco"
-        - BUILD_TYPE=Release
-        - COMPILER=GCC
-      services: docker
-
-    - os: linux
-      env:
-        - BUILD_NAME=EOAN_RELEASE
-        - DOCKERFILE="Dockerfile.ubuntu-eoan"
-        - BUILD_TYPE=Release
-        - COMPILER=GCC
+        - COMPILER=gcc
       services: docker
 
-    - os: osx
-      osx_image: xcode10.2
-      compiler: clang
-      env:
-        - BUILD_NAME=XCODE102_RELEASE
-        - BUILD_TYPE=Release
-        - COMPILER=CLANG
-
     - os: linux
       env:
         - BUILD_DOCS=ON
         - DOCKERFILE="Dockerfile.ubuntu-bionic"
         - BUILD_TYPE=Release
-        - COMPILER=GCC
+        - COMPILER=gcc
       services: docker
 
-  allow_failures:
-    - os: linux
-      env:
-        - BUILD_NAME=EOAN_RELEASE
-        - DOCKERFILE="Dockerfile.ubuntu-eoan"
-        - BUILD_TYPE=Release
-        - COMPILER=GCC
-      services: docker
-
-
 install:
   - if [ -n "$DOCKERFILE" ]; then
       docker build -t "${DOCKERFILE,,}" -f ".ci/docker/$DOCKERFILE" .;
       docker run -itd -v $TRAVIS_BUILD_DIR:$TRAVIS_BUILD_DIR --env-file .ci/docker/env.list --name dart-docker "${DOCKERFILE,,}";
       docker exec dart-docker /bin/sh -c "cd $TRAVIS_BUILD_DIR && ./.ci/install.sh";
     else
-      '.ci/install.sh';
+      sudo -E .ci/install.sh;
     fi
 
 script:
   - if [ -n "$DOCKERFILE" ]; then
       docker exec dart-docker /bin/sh -c "cd $TRAVIS_BUILD_DIR && ./.ci/script.sh";
     else
-      '.ci/script.sh';
+      sudo -E .ci/script.sh;
     fi
 
 deploy:
diff --git a/Brewfile b/Brewfile
index 48b5f5bd55a59..7975d8d8bd557 100644
--- a/Brewfile
+++ b/Brewfile
@@ -15,7 +15,7 @@ brew 'libccd'
 #brew 'nlopt'
 brew 'octomap'
 brew 'ode'
-brew 'open-scene-graph'
+#brew 'open-scene-graph'  # disabled until 3.7.0 is released
 #brew 'pagmo'  # disabled to reduce the build time
 brew 'tinyxml2'
 brew 'urdfdom'
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 94460f5e947e2..6131ca35f71d3 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,11 +1,11 @@
 ## DART 6
 
-### [DART 6.9.3 XXXXX]
+### [DART 6.9.3 (2020-08-26)](https://github.com/dartsim/dart/milestone/61?closed=1)
 
 * Dynamics
 
-  * Update the Properties version of a BodyNode when moved to a new Skeleton: [#1445](https://github.com/dartsim/dart/pull/1445)
-  * Fixed incorrect implicit joint damping/spring force computation in inverse dynamics: : [#1451](https://github.com/dartsim/dart/pull/1451)
+  * Changed to update the Properties version of a BodyNode when moved to a new Skeleton: [#1445](https://github.com/dartsim/dart/pull/1445)
+  * Fixed incorrect implicit joint damping/spring force computation in inverse dynamics: [#1451](https://github.com/dartsim/dart/pull/1451)
 
 ### [DART 6.9.2 (2019-08-16)](https://github.com/dartsim/dart/milestone/60?closed=1)
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1ecf89e77f64f..e2c925ec8b2b6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -61,7 +61,7 @@ endif()
 # If you change the version, please update the <version> tag in package.xml.
 set(DART_MAJOR_VERSION "6")
 set(DART_MINOR_VERSION "9")
-set(DART_PATCH_VERSION "2")
+set(DART_PATCH_VERSION "3")
 set(DART_VERSION "${DART_MAJOR_VERSION}.${DART_MINOR_VERSION}.${DART_PATCH_VERSION}")
 set(DART_PKG_DESC "Dynamic Animation and Robotics Toolkit.")
 set(DART_PKG_EXTERNAL_DEPS "eigen, ccd, fcl, assimp, boost")
diff --git a/cmake/DARTFindBullet.cmake b/cmake/DARTFindBullet.cmake
index e3946cf3b13f4..b99c32a3df9c9 100644
--- a/cmake/DARTFindBullet.cmake
+++ b/cmake/DARTFindBullet.cmake
@@ -12,9 +12,19 @@
 find_package(Bullet COMPONENTS BulletMath BulletCollision MODULE QUIET)
 
 if((BULLET_FOUND OR Bullet_FOUND) AND NOT TARGET Bullet)
+  if(WIN32 AND "optimized" IN_LIST BULLET_LIBRARIES
+           AND     "debug" IN_LIST BULLET_LIBRARIES)
+    cmake_parse_arguments(BULLET_INTERFACE_LIBRARIES "" "" "debug;optimized"
+        ${BULLET_LIBRARIES})
+    set(BULLET_INTERFACE_LIBRARIES
+        $<$<CONFIG:Debug>:${BULLET_INTERFACE_LIBRARIES_debug}>
+        $<$<NOT:$<CONFIG:Debug>>:${BULLET_INTERFACE_LIBRARIES_optimized}>)
+  else()
+    set(BULLET_INTERFACE_LIBRARIES ${BULLET_LIBRARIES})
+  endif()
   add_library(Bullet INTERFACE IMPORTED)
   set_target_properties(Bullet PROPERTIES
     INTERFACE_INCLUDE_DIRECTORIES "${BULLET_INCLUDE_DIRS}"
-    INTERFACE_LINK_LIBRARIES "${BULLET_LIBRARIES}"
+    INTERFACE_LINK_LIBRARIES "${BULLET_INTERFACE_LIBRARIES}"
   )
 endif()
diff --git a/cmake/Findfcl.cmake b/cmake/Findfcl.cmake
index 145bfc3fc4aea..e49de2cadb2f9 100644
--- a/cmake/Findfcl.cmake
+++ b/cmake/Findfcl.cmake
@@ -13,9 +13,6 @@
 #   FCL_INCLUDE_DIRS
 #   FCL_LIBRARIES
 #   FCL_VERSION
-#
-# and the following targets:
-#   fcl
 
 find_package(PkgConfig QUIET)
 
@@ -23,17 +20,11 @@ find_package(PkgConfig QUIET)
 pkg_check_modules(PC_FCL fcl QUIET)
 
 # Include directories
-if(PC_FCL_VERSION VERSION_LESS 0.6.0)
-  find_path(FCL_INCLUDE_DIRS
-      NAMES fcl/collision.h
-      HINTS ${PC_FCL_INCLUDEDIR}
-      PATHS "${CMAKE_INSTALL_PREFIX}/include")
-else()
-  find_path(FCL_INCLUDE_DIRS
-      NAMES fcl/narrowphase/collision.h
-      HINTS ${PC_FCL_INCLUDEDIR}
-      PATHS "${CMAKE_INSTALL_PREFIX}/include")
-endif()
+find_path(FCL_INCLUDE_DIRS
+    NAMES fcl/collision.h  # for FCL < 0.6
+    NAMES fcl/narrowphase/collision.h
+    HINTS ${PC_FCL_INCLUDEDIR}
+    PATHS "${CMAKE_INSTALL_PREFIX}/include")
 
 # Libraries
 if(MSVC)
diff --git a/package.xml b/package.xml
index 766e26602175d..85aec55205ca6 100644
--- a/package.xml
+++ b/package.xml
@@ -4,7 +4,7 @@
        a Catkin workspace. Catkin is not required to build DART. For more
        information, see: http://ros.org/reps/rep-0136.html -->
   <name>dartsim</name>
-  <version>6.9.2</version>
+  <version>6.9.3</version>
   <description>
     DART (Dynamic Animation and Robotics Toolkit) is a collaborative,
     cross-platform, open source library created by the Georgia Tech Graphics