Build Environments

Supported Platforms

DART 6.1 has been tested to run on OS X Mavericks (10.9) with clang (Apple LLVM version 6.0).

Getting headers/developer tools

Mac OS does not ship with system headers and compiler tools by default; the easiest way to get it all is by installing Xcode through the app store.

Xcode is Apple’s full-fledged development environment for Mac/iPhone/iPad apps, but can also be used for developing in a number of standard languages (C, C++, Ruby, web languages, etc.), so it’s a great IDE to have installed anyway.

Install DART using Homebrew

If you want to use dart as a dependent library for your development, then installing dart using Homebrew is the most convenient way. If you found any difficulties in installing DART using Homebrew, please open an issue at our GitHub repo of DART Homebrew formulae.

Clean up

  1. If you installed dart from the prior golems/dartsim, uninstall dartsim and the tap:

    brew uninstall dart
    brew untap golems/dart
  2. Make sure that Homebrew is healthy before you go to next steps with:

    brew update
    brew cleanup
    brew doctor

Install Homebrew

You can find the install command in Homebrew’s website. It should look something like:

/usr/bin/ruby -e "$(curl -fsSL"

Tabbing Required Tabs

  1. Add [dartsim/dart]( tap so formulae of DART and the dependencies will be found

    brew tap dartsim/dart
  2. Also add homebrew/science tap for libccd formula and flann formula

    brew tap homebrew/science

Install DART 6

Now you can install DART with the following command:

brew install dartsim6
  • If you want the latest version from the master branch

    brew install dartsim6 --HEAD
  • If you want to see the other options

    brew info dartsim6

Install DART from source using Homebrew

First, install Homebrew by following the previous instruction.

Install Required Dependencies

brew install eigen
brew install assimp
brew install homebrew/science/libccd
brew install dartsim/dart/fcl
brew install boost
brew install open-scene-graph

Install Optional Dependencies

  • Bullet Collision Detector Support

    To use bullet’s collision detection routine, bullet is needed.

    brew install bullet
  • NLopt Optimization Support

    brew install homebrew/science/nlopt
  • IPopt Optimization Support

    brew install homebrew/science/ipopt
  • DART Planning Module

    brew install homebrew/science/flann
  • DART Parsers: SKEL, URDF, SDF, VSK

    brew install tinyxml
    brew install tinyxml2
    brew install ros/deps/urdfdom
  • OpenSceneGraph GUI

    brew install open-scene-graph

Build and Install DART

After this you should be able to clone the DART repository and compile it.

  1. Clone the repository into a directory in your home folder:

    git clone git://
  2. Change directory to the DART repository and checkout the latest tag of DART 6, v6.1.2:

    cd dart
    git checkout tags/v6.1.2
  3. Create a build directory:

    mkdir build
    cd build
  4. Configure and build dart:

    cmake ..
    make -j4
    • Build Options

      • Build systems

        If you want to use Xcode to build DART, use cmake’s generator option:

        cmake .. -G Xcode

        You can find the list of generators you can use with cmake --help.

      • Build types

        You can specify the build type [ Debug | Release | RelWithDebInfo | Profile ] as:

        cmake .. -DCMAKE_BUILD_TYPE=Debug

        The default build type is Release.

      • DART tests, tutorials, examples

        If you want to build the tests, tutorials, or examples:

        make -j4 tests
        make -j4 tutorials
        make -j4 examples
  5. Install DART:

    sudo make install

    If you want to uninstall DART, then:

    sudo make uninstall