diff --git a/misc/dartsim/Makefile b/misc/dartsim/Makefile
index 110ad9acbefd1..b30e1f2174d35 100644
--- a/misc/dartsim/Makefile
+++ b/misc/dartsim/Makefile
@@ -1,7 +1,6 @@
 PORTNAME=	dartsim
 DISTVERSIONPREFIX=	v
-DISTVERSION=	6.11.0
-PORTREVISION=	1
+DISTVERSION=	6.11.1
 CATEGORIES=	misc
 
 MAINTAINER=	yuri@FreeBSD.org
@@ -33,16 +32,18 @@ LIB_DEPENDS=	libassimp.so:multimedia/assimp \
 
 USES=		cmake compiler:c++17-lang eigen:3,build,run gl localbase:ldflags \
 		pkgconfig xorg
-USE_GITHUB=	yes
-GH_PROJECT=	dart
 USE_GL=		gl glu glut
 USE_XORG=	xi xmu
 USE_CXXSTD=	c++17 # missing in the project, it uses std::void_t (through pagmo2) which is a c++17 feature
 USE_LDCONFIG=	yes
 
+USE_GITHUB=	yes
+GH_PROJECT=	dart
+
 CXXFLAGS+=	-I${LOCALBASE}/include/coin # because of pagmo2 headers include <IpReturnCodes.hpp>
 
 CMAKE_ON=	BUILD_SHARED_LIBS # DART_VERBOSE
+CMAKE_ARGS=	-DODE_DIR=${LOCALBASE}
 
 DATADIR=	share/dart
 DOCSDIR=	${PREFIX}/share/doc/dart
diff --git a/misc/dartsim/distinfo b/misc/dartsim/distinfo
index 305a40eb69f13..d2ff113f612fc 100644
--- a/misc/dartsim/distinfo
+++ b/misc/dartsim/distinfo
@@ -1,3 +1,3 @@
-TIMESTAMP = 1626571083
-SHA256 (dartsim-dart-v6.11.0_GH0.tar.gz) = 41d783d7f99d7b5ad1874336646f1bdfa33e146e0652a6c32d12eaa21505bd51
-SIZE (dartsim-dart-v6.11.0_GH0.tar.gz) = 15881289
+TIMESTAMP = 1629995202
+SHA256 (dartsim-dart-v6.11.1_GH0.tar.gz) = 1a59b9d8f55433ad111089431826cd8abbec71f61c72a8558b655d92164f8de4
+SIZE (dartsim-dart-v6.11.1_GH0.tar.gz) = 15882972
diff --git a/misc/dartsim/pkg-plist b/misc/dartsim/pkg-plist
index 0e43003b06799..498ce2a5890d9 100644
--- a/misc/dartsim/pkg-plist
+++ b/misc/dartsim/pkg-plist
@@ -381,46 +381,46 @@ include/dart/utils/urdf/urdf_world_parser.hpp
 include/dart/utils/utils.hpp
 lib/libdart-collision-bullet.so
 lib/libdart-collision-bullet.so.6.11
-lib/libdart-collision-bullet.so.6.11.0
+lib/libdart-collision-bullet.so.6.11.1
 lib/libdart-collision-ode.so
 lib/libdart-collision-ode.so.6.11
-lib/libdart-collision-ode.so.6.11.0
+lib/libdart-collision-ode.so.6.11.1
 lib/libdart-external-imgui.so
 lib/libdart-external-imgui.so.6.11
-lib/libdart-external-imgui.so.6.11.0
+lib/libdart-external-imgui.so.6.11.1
 lib/libdart-external-lodepng.so
 lib/libdart-external-lodepng.so.6.11
-lib/libdart-external-lodepng.so.6.11.0
+lib/libdart-external-lodepng.so.6.11.1
 lib/libdart-external-odelcpsolver.so
 lib/libdart-external-odelcpsolver.so.6.11
-lib/libdart-external-odelcpsolver.so.6.11.0
+lib/libdart-external-odelcpsolver.so.6.11.1
 lib/libdart-gui-osg.so
 lib/libdart-gui-osg.so.6.11
-lib/libdart-gui-osg.so.6.11.0
+lib/libdart-gui-osg.so.6.11.1
 lib/libdart-gui.so
 lib/libdart-gui.so.6.11
-lib/libdart-gui.so.6.11.0
+lib/libdart-gui.so.6.11.1
 lib/libdart-optimizer-ipopt.so
 lib/libdart-optimizer-ipopt.so.6.11
-lib/libdart-optimizer-ipopt.so.6.11.0
+lib/libdart-optimizer-ipopt.so.6.11.1
 lib/libdart-optimizer-nlopt.so
 lib/libdart-optimizer-nlopt.so.6.11
-lib/libdart-optimizer-nlopt.so.6.11.0
+lib/libdart-optimizer-nlopt.so.6.11.1
 lib/libdart-optimizer-pagmo.so
 lib/libdart-optimizer-pagmo.so.6.11
-lib/libdart-optimizer-pagmo.so.6.11.0
+lib/libdart-optimizer-pagmo.so.6.11.1
 lib/libdart-planning.so
 lib/libdart-planning.so.6.11
-lib/libdart-planning.so.6.11.0
+lib/libdart-planning.so.6.11.1
 lib/libdart-utils-urdf.so
 lib/libdart-utils-urdf.so.6.11
-lib/libdart-utils-urdf.so.6.11.0
+lib/libdart-utils-urdf.so.6.11.1
 lib/libdart-utils.so
 lib/libdart-utils.so.6.11
-lib/libdart-utils.so.6.11.0
+lib/libdart-utils.so.6.11.1
 lib/libdart.so
 lib/libdart.so.6.11
-lib/libdart.so.6.11.0
+lib/libdart.so.6.11.1
 libdata/pkgconfig/dart.pc
 %%DATADIR%%/cmake/DARTConfig.cmake
 %%DATADIR%%/cmake/DARTConfigVersion.cmake