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RobotDART is a C++ robot simulator (with optional Python bindings) built on top of the DART physics engine. The RobotDART simulator is intended to be used by Robotics and Machine Learning researchers who want to write controllers or test learning algorithms without the delays and overhead that usually comes with other simulators (e.g., Gazebo, Coppelia-sim).


Documentation is available at:


  • Author/Maintainer: Konstantinos Chatzilygeroudis (University of Patras)
  • Active contributors: Dionis Totsila (Inria and University of Patras), Jean-Baptiste Mouret (Inria)
  • Other contributors: Antoine Cully, Vassilis Vassiliades, Vaios Papaspyros

Citing RobotDART

If you use this code in a scientific publication, please use the following citation:

        title={{RobotDART: a versatile robot simulator for robotics and machine learning researchers}},
        author={Chatzilygeroudis, Konstantinos and Dionis, Totsila and Mouret, Jean-Baptiste},
        booktitle={{Preprint (Submitted to JOSS)}}


This work was supported by the Hellenic Foundation for Research and Innovation (H.F.R.I.) under the "3rd Call for H.F.R.I. Research Projects to support Post-Doctoral Researchers" (Project Acronym: NOSALRO, Project Number: 7541).


This work was conducted within the Laboratory of Automation and Robotics (LAR), Department of Electrical and Computer Engineering, and the Computational Intelligence Lab (CILab), Department of Mathematics at the University of Patras, Greece.

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BSD 2-Clause "Simplified" License