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

Optional dependencies

nlopt - NLopt Optimization Support
Ipopt - IPopt Optimization Support
bullet - Bullet Collision Detector Support
flann - DART Planning Module
tinyxml - DART Parsers: SKEL, URDF, SDF, VSK
tinyxml2 - DART Parsers: SKEL, URDF, SDF, VSK
urdfdom - DART Parsers: SKEL, URDF, SDF, VSK
urdfdom_headers - DART Parsers: SKEL, URDF, SDF, VSK