Install DART on Mac | DART: Dynamic Animation and Robotics Toolkit

Build Environments

Supported Platforms

DART 6.8 has been tested to run on High Sierra (10.13) and Mojave (10.14).

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 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.

Clean up

Note: If you’re going to install Homebrew as a first time, then please skip this step.

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 https://raw.githubusercontent.com/Homebrew/install/master/install)"

Install DART 6

Now you can install DART with the following command:

$ brew install dartsim

Install from Source using Homebrew

First, install Homebrew by following the previous instruction.

Install Dependencies

$ brew install dartsim --only-dependencies

Build and Install DART

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

Clone the repository into a directory in your home folder:
```
$ git clone git://github.com/dartsim/dart.git
```
Change directory to the DART repository and checkout the latest tag of DART 6, v6.8.2:
```
$ cd dart
$ git checkout tags/v6.8.2
```
Create a build directory:
```
$ mkdir build
$ cd build
```
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, run follows:
    $ make -j4 tests $ make -j4 tutorials $ make -j4 examples
    Once you successfully build the tests, you can run all the tests at once as:
    $ make -j4 test # or cmake -j4
    or run a particular test as:
    $ ./unittests/<category_name>/<test_name> # e.g., ./unittests/unit/test_Uri
    Also, you can run tutorials and examples as:
    $ ./bin/<executable_name> # e.g., ./bin/rigidCubes
Install DART:
```
$ sudo make install
```
If you want to uninstall DART, then:
```
$ sudo make uninstall
```