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dartsim package from dartsim repo


Package Summary

Tags No category tags.
Version 6.3.1
License BSD
Build type CMAKE

Repository Summary

Checkout URI
VCS Type git
VCS Version release-6.3
Last Updated 2018-03-21
CI status No Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

DART (Dynamic Animation and Robotics Toolkit) is a collaborative, cross-platform, open source library created by the Georgia Tech Graphics Lab and Humanoid Robotics Lab, with ongoing support by the University of Washington Personal Robotics Lab and Open Robotics. DART provides data structures and algorithms for kinematic and dynamic applications in robotics and computer animation.

Additional Links


  • Michael X. Grey


  • Jeongseok Lee
  • C. Karen Liu
  • Mike Stilman

DART: Dynamic Animation and Robotics Toolkit

Build Status Build status codecov Codacy Badge DOI

Visit the DART website for more information * Gallery * Installation: Ubuntu | macOS | Windows * Tutorials * API Documentation * Python bindings: PyDart2, dartpy (experimental) * OpenAI Gym with DART support: DartEnv * If you use DART in an academic publication, please consider citing this JOSS Paper. [BibTeX]



DART 6.3.1 (2018-03-21)

DART 6.3.0 (2017-10-04)

  • Collision detection

    • Added a feature of disabling body node pairs to BodyNodeCollisionFilter: #911
  • Kinematics/Dynamics

    • Added setter and getter for WeldJointConstraint::mRelativeTransform: #910
  • Parsers

    • Improved SkelParser to read alpha value: #914
  • Misc

    • Changed not to use lambda function as an workaround for DART python binding: #916

DART 6.2.1 (2017-08-08)

  • Collision detection

    • Fixed collision checking between objects from the same body node: #894
  • Kinematics/Dynamics

    • Fixed transform of ScrewJoint with thread pitch: #855
  • Parsers

    • Fixed incorrect reading of from SDF: #893
    • Fixed missing reading of joint friction from URDF: #891
  • Testing

    • Fixed testing ODE collision detector on macOS: #884
    • Removed redundant main body for each test source file: #856
  • Misc

    • Fixed build of dart-gui-osg that depends on the presence of OSG: #898
    • Fixed build of examples and tutorials on macOS: #889
    • Fixed missing overriding method OdePlane::isPlaceable(): #886
    • Replaced use of enum by static constexpr: #852, #904

DART 6.2.0 (2017-05-15)

  • Common

    • Added Factory class and applied it to collision detection creation: #864
    • Added readAll() to Resource and ResourceRetriever: #875
  • Math

    • Added accessors for diameters and radii of EllipsoidShape, and deprecated EllipsoidShape::get/setSize(): #829
    • Fixed Lemke LCP solver (#808 for DART 6): #812
  • Collision Detection

    • Added support of ODE collision detector: #861
    • Fixed incorrect collision filtering of BulletCollisionDetector: #859
  • Simulation

    • Fixed World didn't clear collision results on reset: #863
  • Parsers

    • Fixed incorrect creation of resource retriever in SkelParser and SdfParser: #847, #849
  • GUI

    • Added MotionBlurSimWindow: #840
    • Improved MultiSphereShape rendering in GLUT renderer: #862
    • Fixed incorrect parsing of materials and normal scaling from URDF: #851
    • Fixed the OSG renderer not rendering collision geometries: #851
    • Fixed that GUI was rendering white lines with nvidia drivers: #805
  • Misc

    • Added createShared() and createUnique() pattern: #844
    • Added Skeleton::getRootJoint(): #832
    • Added CMake targets for code formatting using clang-format: #811, #817
    • Renamed MultiSphereShape to MultiSphereConvexHullShape: #865
    • Modified the member function names pertain to lazy evaluation to be more relevant to their functionalities: #833
  • Tutorials & Examples

    • Allowed tutorials and examples to be built out of DART source tree: #842
    • Fixed tutorialDominoes-Finished that didn't work with the latest DART: #807

DART 6.1.2 (2017-01-13)

  • Dynamics

    • Fixed bug of ContactConstraint with kinematic joints: #809
  • Misc

    • Fixed that ZeroDofJoint::getIndexInTree was called: #818

DART 6.1.1 (2016-10-14)

  • Build

    • Modified to build DART without SIMD options by default: #790
    • Modified to build external libraries as separately build targets: #787
    • Modified to export CMake target files separately per target: #786
  • Misc

    • Updated lodepng up to version 20160501 : #791

DART 6.1.0 (2016-10-07)

  • Collision detection

    • Added distance API: #744
    • Fixed direction of contact normal of BulletCollisionDetector: #763
  • Dynamics

    • Added computeLagrangian() to MetaSkeleton and BodyNode: #746
    • Added new shapes: sphere, capsule, cone, and multi-sphere: #770, #769, #745
    • Changed base class of joint from SingleDofJoint/MultiDofJoint to GenericJoint: #747
  • Planning

    • Fixed incorrect linking to flann library: #761
  • Parsers

    • Added sdf parsing for fixed joint and material tag of visual shape: #775
    • Added support of urdfdom_headers 1.0: #766
  • GUI

    • Added ImGui for 2D graphical interface: #781
  • Examples

    • Added osgAtlasSimbicon and osgTinkertoy: #781
  • Misc improvements and bug fixes

    • Added virtual Shape::getType() and deprecated ShapeType Shape::getShapeType(): #725
    • Changed building with SIMD optional: #765, #760
    • Fixed minor build and install issues: #773, #772
    • Fixed Doxyfile to show missing member functions in API documentation: #768
    • Fixed typo: #756, #755

DART 6.0.1 (2016-06-29)

  • Collision detection

    • Added support of FCL 0.5 and tinyxml2 4.0: #749
    • Added warnings for unsupported shape pairs of DARTCollisionDetector: #722
  • Dynamics

    • Fixed total mass is not being updated when bodies removed from Skeleton: #731
  • Misc improvements and bug fixes

    • Renamed DEPRECATED and FORCEINLINE to DART_DEPRECATED and DART_FORCEINLINE to avoid name conflicts: #742
    • Updated copyright: added CMU to copyright holder, moved individual contributors to #723

DART 6.0.0 (2016-05-10)

  • Common data structures

  • Kinematics

    • Added convenient functions for setting joint limits: #703
    • Added more description on InverseKinematics::solve(): #624
    • Added API for utilizing analytical inverse kinematics: #530, #463
    • Added color property to Marker: #187
    • Improved Skeleton to clone State as well: #691
    • Improved ReferentialSkeleton to be able to add and remove BodyNodes and DegreeOfFreedoms to/from Groups freely: #557, #556, #548
    • Changed Marker into Node: #692, #609
    • Renamed Joint::get/setLocal[~] to Joint::get/setRelative[~]: #715, #714
    • Renamed PositionLimited to PositionLimitEnforced: #447
    • Fixed initialization of joint position and velocity: #691, #621
    • Fixed InverseKinematics when it's used with FreeJoint and BallJoint: #683
    • Fixed ambiguous overload on MetaSkeleton::getLinearJacobianDeriv: #628, #626
  • Dynamics

    • Added get/setLCPSolver functions to ConstraintSolver: #633
    • Added ServoMotorConstraint as a preliminary implementation for SERVO actuator type: #566
    • Improved ConstraintSolver to obey C++11 ownership conventions: #616
    • Fixed segfualting of DantzigLCPSolver when the constraint dimension is zero: #634
    • Fixed missing implementations in ConstrainedGroup: #586
    • Fixed incorrect applying of joint constraint impulses: #317
    • Deprecated draw() functions of dynamics classes: #654
  • Collision detection

    • Added CollisionGroup and refactored CollisionDetector to be more versatile: #711, #704, #689, #631, #642, #20
    • Improved API for self collision checking options: #718, #702
    • Deprecated BodyNode::isColliding; collision sets are moved to CollisionResult: #694, #670, #668, #666
  • Parsers

    • Added back VSK parser: #602, #561, #254
    • Fixed segfault of SdfParser when nullptr ResourceRetriever is passed: #663
  • GUI features

    • Merged renderer namespace into gui namespace: #652, #589
    • Moved osgDart under dart::gui namespace as dart::gui::osg: #651
    • Fixed GlutWindow::screenshot(): #623, #395
  • Simulation

    • Fixed World::clone() didn't clone the collision detector: #658
    • Fixed bug of World concurrency: #577, #576
  • Misc improvements and bug fixes

    • Added make_unique<T> that was omitted from C++11: #639
    • Added missing override keywords: #617, #535
    • Added gcc warning flag -Wextra: #600
    • Improved memory management of constraint namespace: #584, #583
    • Changed the extension of headers from .h to .hpp: #709, #693, #568
    • Changed Doxyfile to gnerate tag file: #690
    • Changed the convention to use std::size_t over size_t: #681, #656
    • Changed CMake to configure preprocessors using #cmakedefine: #648, #641
    • Updated copyright years: #679, #160
    • Renamed directory name apps to examples: #685
    • Fixed warnings of unused variables in release mode: #646
    • Fixed typo of getNumPluralAddoName in utility macro: #615
    • Fixed linker error by adding namespace-scope definitions for constexpr static members: #603
    • Fixed segfault from nullptr meshes: #585
    • Fixed typo of tutorial with minor improvements: #573
    • Fixed NameManager<T>::removeEntries(~) called a function that does not exist: #564, #554
    • Fixed missing definitions for various functions: #558, #555
    • Fixed const correctness of BodyNode::getMomentsOfInertia(): #541, #540
    • Fixed ftel bug in Linux with an workaround: #533
    • Removed unnecessary virtual keyword for overriding functions: #680
    • Removed deprecated APIs in DART 5: #678
  • Build and test issues

    • Added CMake target for code coverage testing, and automatic reporting: #688, #687, #638, #632
    • Added missing liburdfdom-dev dependency in Ubuntu package: #574
    • Modulized DART libraries: #706, #675, #652, #477
    • Improved Travis-CI script: #655
    • Improved CMake script by splitting tutorials, examples, and tests into separate targets: #644
    • Improved wording of the cmake warning messages for ASSIMP: #553
    • Changed Travis-CI to treat warning as errors using -Werror flags: #682, #677
    • Changed Travis-CI to test DART with bullet collision detector: #650, #376
    • Changed the minimum requirement of Visual Studio version to 2015: #592
    • Changed CMake to build gui::osg examples when DART_BUILD_EXAMPLES is on: #536
    • Simplfied Travis-CI tests for general pushes: #700
    • Fixed Eigen memory alignment issue in testCollision.cpp: #719
    • Fixed BULLET_INCLUDE_DIRS in DARTConfig.cmake: #697
    • Fixed linking with Bullet on OS X El Capitan by supporting for Bullet built with double precision: #660, #657
    • Fixed FCL version check logic in the main CMakeLists.txt: #640
    • Fixed find_package(DART) on optimizer components: #637
    • Fixed linking against ${DART_LIBRARIES} not working in Ubuntu 14.04: #630, #629
    • Fixed Visual Studio 2015 build errors: #580
    • Removed OpenGL dependency from dart library: #667
    • Removed version check for Bullet: #636, #625


Version 5.1.6 (2017-08-08)

  1. Improved camera movement of OpenGL GUI: smooth zooming and translation

  2. Removed debian meta files from the main DART repository

Version 5.1.5 (2017-01-20)

  1. Fixed Lemke LCP solver for several failing cases

  2. Increase minimum required Ipopt version to 3.11.9

  3. Added support of urdfdom_headers 1.0 for DART 5.1 (backport of #766)

Version 5.1.4 (2016-10-14)

  1. Fixed inconsistent frame rate of GlutWindow

Version 5.1.3 (2016-10-07)

  1. Updated to support Bullet built with double precision (backport of #660)

  2. Modified to use btGImpactMeshShape instead of btConvexTriangleMeshShape for mesh

  3. Updated to support FCL 0.5 and tinyxml 4.0 (backport of #749)

Version 5.1.2 (2016-04-25)

  1. Fixed inverse kinematics (backporting)

  2. Fixed aligned memory allocation with Eigen objects in loading meshes

  3. Fixed incorrect applying joint constraint impulses (backporting)

  4. Fixed some build and packaging issues

Version 5.1.1 (2015-11-06)

  1. Add bullet dependency to package.xml

  2. Improved handling of missing symbols of Assimp package

  3. Improved travis-ci build log for Mac

  4. Fixed warnings in Function.cpp

  5. Fixed build failures on AppVeyor

  6. Fixed const qualification of ResourceRetriever

  7. Fixed aligned memory allocation with Eigen objects

  8. Fixed copy safety for various classes

Version 5.1.0 (2015-10-15)

  1. Fixed incorrect rotational motion of BallJoint and FreeJoint

  2. Removed old documents: dart-tutorial, programmingGuide

  3. Fixed aligned memory allocation with Eigen objects

  4. Fixed segfault in Linkage::Criteria

  5. Improved sdf/urdf parser

  6. Fixed CMake warnings

  7. Fixed build issues on Windows

  8. Fixed IpoptSolver bugs

  9. Added Frame::getTransform(withRespecTo, inCoordinatesOf)

  10. Improved API documentation -- set the SHOW_USED_FILES tag to NO

  11. Added convenience setters for generalized coordinates of FreeJoint

  12. Fixed compilation warnings

  13. Added a mutex to Skeleton

  14. Added generic URIs support

  15. Added End Effector, Inverse Kinematics, and osgDart

  16. Removed outdated packaging scripts

  17. Added initial position and initial velocity properties

  18. Added a package.xml file for REP-136 support

  19. Improved Linkage and Chain Criteria

  20. Added Joint::isCyclic to mark SO(2) topology

  21. Fixed SEGFAULTs in DartLoader

  22. Added the SYSTEM flag to include_directories

  23. Improved Joint warning

  24. Added tutorials (

Version 5.0.2 (2015-09-28)

  1. Fixed bug in Jacobian update notifications

Version 5.0.1 (2015-07-28)

  1. Improved app indexing for bipedStand and atlasSimbicon

  2. Added clipping command when it exceeds the limits

  3. Improved CollisionNode's index validity check

  4. Standardized warning messages for Joints

  5. Fixed bug in SDF parser -- correct child for a joint

  6. Fixed SDF parsing for single link model without joint

  7. Added missing virtual destructors to Properties in Entity and [Soft]BodyNode

  8. Limited maximum required version of Assimp less than 3.0~dfsg-4

  9. Fixed SEGFAULTs in DartLoader

Version 5.0.0 (2015-06-15)

  1. Fixed aligned memory allocation with Eigen objects

  2. Added some missing API for DegreeOfFreedom

  3. Replaced logMaps with Eigen::AngleAxisd

  4. Improved FCL collision detector

  5. Removed deprecated API and suppressed warnings

  6. Added use of OpenGL's multisample anti-aliasing

  7. Added computation of differences of generalized coordinates

  8. Added deprecated and force-linline definitions for clang

  9. Eradicated memory leaks and maked classes copy-safe and clonable

  10. Improved PlaneShape constructors

  11. Added appveyor options for parallel build and detailed log

  12. Improved robustness and package handling for URDF parsing

  13. Fixed bug in BodyNode::_updateBodyJacobianSpatialDeriv()

  14. Added alpha channel and Color functions

  15. Added Jacobian getters to Skeleton

  16. Added ArrowShape for visualizing arrows

  17. Fixed matrix dimension bug in operationalSpaceControl app

  18. Added build type definitions

  19. Added Signal class

  20. Added LineSegmentShape for visualizing line segments

  21. Fixed segfault in SoftSdfParser

  22. Added subscriptions for destructions and notifications

  23. Added NloptSolver::[get/set]NumMaxEvaluations()

  24. Added support of Eigen::VectorXd in parser

  25. Added Skeleton::getNumJoints()

  26. Fixed bug in DARTCollide for sphere-sphere collision

  27. Fixed naming issues for Skeletons in World

  28. Added PlanarJoint support for URDF loader

  29. Fixed rotation of the inertia reference frame for URDF loader

  30. Fixed bug in loading WorldFile

  31. Added plotting of 2D trajectories

  32. Removed unsupported axis orders of EulerJoint

  33. Added convenience functions to help with setting joint positions

  34. Added Frame class and auto-updating for forward kinematics

  35. Added Travis-CI build test for OSX

  36. Added specification of minimum dependency version


Version 4.3.6 (2016-04-16)

  1. Fixed duplicate entries in Skeleton::mBodyNodes causing segfault in destructor

Version 4.3.5 (2016-01-09)

  1. Fixed incorrect applying of joint constraint impulses (backported from 6.0.0)

Version 4.3.4 (2015-01-24)

  1. Fixed build issue with gtest on Mac

Version 4.3.3 (2015-01-23)

  1. Fixed joint Coulomb friction

Version 4.3.2 (2015-01-22)

  1. Fixed installation -- missing headers (utils/urdf, utils/sdf)

Version 4.3.1 (2015-01-21)

  1. Fixed API incompatibility introduced by dart-4.3.0

Version 4.3.0 (2015-01-19)

  1. Added name manager for efficient name look-up and unique naming
  2. Added all-inclusive header and namespace headers
  3. Added DegreeOfFreedom class for getting/setting data of individual generalized coordinates
  4. Added hybrid dynamics
  5. Added joint actuator types
  6. Added Coulomb joint friction
  7. Migrated to C++11
  8. Improved readability of CMake output messages
  9. Fixed const-correctneess of member functions
  10. Added handling use of 'package:/' in URDF

Version 4.2.1 (2015-01-07)

  1. Fixed version numbering of shared libraries in debian packages
  2. Fixed Jacobian and its derivatives of FreeJoint/BallJoint

Version 4.2.0 (2014-11-22)

  1. Added reset functions for Simulation and Recording class
  2. Added operational space control example
  3. Fixed misuse of Bullet collision shapes
  4. Fixed adjacent body pair check for Bullet collision detector
  5. Fixed incorrect computation of constraint impulse for BallJointConstraint and WeldJointContraint
  6. Improved generation of soft box shape for soft body

Version 4.1.1 (2014-07-17)

  1. Added ABI check script
  2. Fixed build issues on Linux
  3. Fixed build issues on Windows
  4. Fixed unintended warning messages

Version 4.1.0 (2014-07-02)

  1. Fixed bug in switching collision detectors
  2. Fixed kinematics and dynamics when a skeleton has multiple parent-less bodies
  3. Fixed issue on installing DART 4 alongside DART 3 on Linux
  4. Fixed warnings on gcc
  5. Renamed getDof() to getNumDofs()
  6. Added cylinder shape for soft body

Version 4.0.0 (2014-06-02)

  1. Added implicit joint spring force and damping force
  2. Added planar joint
  3. Added soft body dynamics
  4. Added computation of velocity and acceleration of COM
  5. Added bullet collision detector
  6. Improved performance of forward dynamics algorithm
  7. Improved dynamics API for Skeleton and Joint
  8. Improved constraint dynamics solver
  9. Improved calculation of equations of motion using Featherstone algorithm
  10. Improved optimizer interface and added nlopt solver
  11. Fixed self collision bug
  12. Fixed incorrect integration of BallJoint and FreeJoint


Version 3.0 (2013-11-04)

  1. Removed Transformation classes. Their functionality is now included in joint classes.
  2. Added Featherstone algorithm. Can currently only be used without collision handling. The old algortihm is still present and used for that case.
  3. Removed kinematics namespace. Functionality is moved to dynamics classes.
  4. Added dart root namespace
  5. A lot of function and variable renames
  6. Added constraint namespace
  7. Added "common" namespace


Version 2.6 (2013-09-07)

  1. Clean-up of build system:
    • Renamed DART_INCLUDEDIR to the standard-compliant DART_INCLUDE_DIRS in CMake files. Users need to adapt their CMake files for this change.
    • Users no longer need to call find_package(DARTExt) in the CMake files. A call to find_package(DART) also finds its dependencies now.
    • Allow user to overwrite installation prefix
    • Add possibility to include DART header files as '#include <dart/dynamics/Skeleton.h>' in addition to '#include <dynamics/Skeleton.h>'
    • Allow out-of-source builds
  2. URDF loader:
    • Major clean-up
    • Consider mesh scaling factor

Version 2.5 (2013-07-16)

  1. Replaced robotics::World with simulation::World
  2. Removed robotics::Robot
  3. Added simulation::SimWindow
  4. Some speed-up of Eigen calculations
  5. Added abstract trajectory interface
  6. ConstraintDynamics handles contact, joint limit and other constraint forces simultaneously
  7. Improved Lemke algorithm for solving LCP
  8. Renamed skeletonDynamics::getQDotVector() to getPoseVelocity()
  9. Added abstract CollisionDetector interface allowing for multiple different collision detector implementations.
  10. Created math namespace
  11. Added System class as base class to Skeleton and Joint
  12. URDF loader: Removed ability to load nonstandard URDF files with an object tag
  13. Added support for multiple shapes per BodyNode
  14. Made urdfdom a dependency instead of including it in the DART source
  15. Added function to CollisionDetector to let user check a specific pair of BodyNodes for collision

Version 2.4 (2013-03-05)

  1. Mass and inertia are no longer stored in Shape but in BodyNode.
  2. Different shapes for collision and visualization (not just different meshes)
  3. Shapes are no longer centered at the COM but can be transformed independently relative to the link frame.
  4. Improved URDF support
    • Support for non-mesh shapes
    • Does not create dummy root nodes anymore
    • Support for continuous joints
    • Support for arbitrary joint axes for revolute joints (but not for prismatic joints) instead of only axis-aligned joint axes
    • Support for relative mesh paths even if the robot and world URDF files are in different directories
    • All supported joint types can be root joints
  5. Clean-up of the Robot class
  6. Removed Object class
  7. More robust build and installation process on Linux

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