How To Install dart-doc on Ubuntu 22.04

In this tutorial we learn how to install dart-doc on Ubuntu 22.04. dart-doc is Dynamic Animation and Robotics Toolkit - Documentation

Introduction

In this tutorial we learn how to install dart-doc on Ubuntu 22.04.

What is dart-doc

dart-doc is:

DART is a collaborative, cross-platform, open source library created by the Georgia Tech Graphics Lab and Humanoid Robotics Lab. The library provides data structures and algorithms for kinematic and dynamic applications in robotics and computer animation. DART is distinguished by it’s accuracy and stability due to its use of generalized coordinates to represent articulated rigid body systems and computation of Lagrange’s equations derived from D.Alembert’s principle to describe the dynamics of motion. For developers, in contrast to many popular physics engines which view the simulator as a black box, DART gives full access to internal kinematic and dynamic quantities, such as the mass matrix, Coriolis and centrifugal forces, transformation matrices and their derivatives. DART also provides efficient computation of Jacobian matrices for arbitrary body points and coordinate frames. Contact and collision are handled using an implicit time-stepping, velocity-based LCP (linear-complementarity problem) to guarantee non-penetration, directional friction, and approximated Coulomb friction cone conditions. For collision detection, DART uses FCL developed by Willow Garage and the UNC Gamma Lab. DART has applications in robotics and computer animation because it features a multibody dynamic simulator and tools for control and motion planning. Multibody dynamic simulation in DART is an extension of RTQL8, an open source software created by the Georgia Tech Graphics Lab.

This package contains documentation, tutorials and examples

There are three methods to install dart-doc on Ubuntu 22.04. We can use apt-get, apt and aptitude. In the following sections we will describe each method. You can choose one of them.

Install dart-doc Using apt-get

Update apt database with apt-get using the following command.

sudo apt-get update

After updating apt database, We can install dart-doc using apt-get by running the following command:

sudo apt-get -y install dart-doc

Install dart-doc Using apt

Update apt database with apt using the following command.

sudo apt update

After updating apt database, We can install dart-doc using apt by running the following command:

sudo apt -y install dart-doc

Install dart-doc Using aptitude

If you want to follow this method, you might need to install aptitude first since aptitude is usually not installed by default on Ubuntu. Update apt database with aptitude using the following command.

sudo aptitude update

After updating apt database, We can install dart-doc using aptitude by running the following command:

sudo aptitude -y install dart-doc

How To Uninstall dart-doc on Ubuntu 22.04

To uninstall only the dart-doc package we can use the following command:

sudo apt-get remove dart-doc

Uninstall dart-doc And Its Dependencies

To uninstall dart-doc and its dependencies that are no longer needed by Ubuntu 22.04, we can use the command below:

sudo apt-get -y autoremove dart-doc

Remove dart-doc Configurations and Data

To remove dart-doc configuration and data from Ubuntu 22.04 we can use the following command:

sudo apt-get -y purge dart-doc

Remove dart-doc configuration, data, and all of its dependencies

We can use the following command to remove dart-doc configurations, data and all of its dependencies, we can use the following command:

sudo apt-get -y autoremove --purge dart-doc

References

Summary

In this tutorial we learn how to install dart-doc package on Ubuntu 22.04 using different package management tools: apt, apt-get and aptitude.