Build Environments

Supported Platforms

DART 6.1 has been tested to run on OS X Yosemite (10.10), El Capitan (10.11), and Sierra (10.12) 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 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

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"

Tapping Required Taps

  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 cutting edge DART from the master branch

    $ brew install dartsim6 --HEAD
  • If you want to see the detailed information of the formula

    $ brew info dartsim6

Install from Source using Homebrew

First, install Homebrew by following the previous instruction.


Install All the Required and Optional Dependencies

$ brew install dartsim6 --only-dependencies

Install Dependencies Individually

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