GEORGIA TECH AND CARNEGIE MELLON UNIVERSITY

For developers, DART offers full access to internal kinematic and dynamic quantities, such as the mass matrix, Coriolis and centrifugal forces, transformation matrices, and their derivatives, unlike many popular physics engines that treat the simulator as a black box. It also provides efficient computation of Jacobian matrices for arbitrary body points and coordinate frames. The frame semantics of DART allow users to define and use arbitrary reference frames (both inertial and non-inertial) to specify or request data.