How to Install and Uninstall libdart6-utils-urdf Package on Ubuntu 20.10 (Groovy Gorilla)

Last updated: December 25,2024

1. Install "libdart6-utils-urdf" package

This is a short guide on how to install libdart6-utils-urdf on Ubuntu 20.10 (Groovy Gorilla)


    
        
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                sudo apt update
            
                    
    
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            $
        

        
            
                sudo apt install
            
                        
                libdart6-utils-urdf
            
                    
    
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2. Uninstall "libdart6-utils-urdf" package

Please follow the instructions below to uninstall libdart6-utils-urdf on Ubuntu 20.10 (Groovy Gorilla):


    
        
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                sudo apt remove
            
                        
                libdart6-utils-urdf
            
                    
    
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            $
        

        
            
                sudo apt autoclean && sudo apt autoremove
            
                    
    
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3. Information about the libdart6-utils-urdf package on Ubuntu 20.10 (Groovy Gorilla)

Package: libdart6-utils-urdf
Architecture: amd64
Version: 6.9.2-3ubuntu1
Multi-Arch: same
Priority: optional
Section: universe/libs
Source: dart
Origin: Ubuntu
Maintainer: Ubuntu Developers
Original-Maintainer: Debian Science Maintainers
Bugs: https://bugs.launchpad.net/ubuntu/+filebug
Installed-Size: 228
Depends: libc6 (>= 2.14), libdart6 (>= 6.9.2), libdart6-utils (>= 6.9.2), libgcc-s1 (>= 3.0), libstdc++6 (>= 5.2), libtinyxml2-8 (>= 8.0.0), liburdfdom-model
Filename: pool/universe/d/dart/libdart6-utils-urdf_6.9.2-3ubuntu1_amd64.deb
Size: 53728
MD5sum: abd4b4e8f16d9a167d64cdc2c1293b07
SHA1: abf6633ca9435ae10d81521502063857a3f757bd
SHA256: 97ba0048104e3ad37291e9a29f1769a27cdac635802b93993e740b792b3a4a7c
SHA512: 505e6fa8c65ee6b6819392bae520da95c0e233e1613e96993fbba0c2d933509741e7203f052316b5d6918b9e8e805ce4b8235f96f55ebde5a460a59d00556f59
Homepage: http://dartsim.github.io/
Description-en: Dynamic Animation and Robotics Toolkit - Utils Component Shared Library
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.
Description-md5: 8599f29c08c35b16a91d5a47f85b71f3