diff --git a/.ci/docker/ubuntu-artful b/.ci/docker/ubuntu-artful
deleted file mode 100644
index 5e0a6bde8e623..0000000000000
--- a/.ci/docker/ubuntu-artful
+++ /dev/null
@@ -1,27 +0,0 @@
-FROM ubuntu:artful
-
-RUN apt-get update -qq
-RUN apt-get install -y \
-    sudo \
-    build-essential  \
-    cmake \
-    pkg-config \
-    libassimp-dev \
-    libboost-all-dev \
-    libccd-dev \
-    libeigen3-dev \
-    libfcl-dev \
-    freeglut3-dev \
-    libxi-dev \
-    libxmu-dev \
-    libbullet-dev \
-    libode-dev \
-    libflann-dev \
-    libnlopt-dev \
-    coinor-libipopt-dev \
-    libtinyxml2-dev \
-    liburdfdom-dev \
-    liburdfdom-headers-dev \
-    libopenscenegraph-dev \
-    clang-format-3.8 \
-    lcov
diff --git a/.ci/docker/ubuntu-bionic b/.ci/docker/ubuntu-bionic
index e563db667e674..b174e92ff3bd2 100644
--- a/.ci/docker/ubuntu-bionic
+++ b/.ci/docker/ubuntu-bionic
@@ -7,7 +7,9 @@ RUN apt-get install -y \
     cmake \
     pkg-config \
     libassimp-dev \
-    libboost-all-dev \
+    libboost-filesystem-dev \
+    libboost-regex-dev \
+    libboost-system-dev \
     libccd-dev \
     libeigen3-dev \
     libfcl-dev \
@@ -23,5 +25,5 @@ RUN apt-get install -y \
     liburdfdom-dev \
     liburdfdom-headers-dev \
     libopenscenegraph-dev \
-    clang-format-3.8 \
+    # clang-format-3.8 \  # Disable until higher version is supported
     lcov
diff --git a/.ci/docker/ubuntu-xenial b/.ci/docker/ubuntu-xenial
index ee3a43597ff38..d63ea15f508f9 100644
--- a/.ci/docker/ubuntu-xenial
+++ b/.ci/docker/ubuntu-xenial
@@ -7,7 +7,9 @@ RUN apt-get install -y \
     cmake \
     pkg-config \
     libassimp-dev \
-    libboost-all-dev \
+    libboost-filesystem-dev \
+    libboost-regex-dev \
+    libboost-system-dev \
     libccd-dev \
     libeigen3-dev \
     libfcl-dev \
diff --git a/.ci/install_linux.sh b/.ci/install_linux.sh
index 5750a50bc31aa..9ed61822c32ce 100755
--- a/.ci/install_linux.sh
+++ b/.ci/install_linux.sh
@@ -9,7 +9,9 @@ sudo apt-get -qq update
 APT='
 cmake
 libassimp-dev
-libboost-all-dev
+libboost-filesystem-dev
+libboost-regex-dev
+libboost-system-dev
 libccd-dev
 libeigen3-dev
 libfcl-dev
diff --git a/.ci/script.sh b/.ci/script.sh
index 813050375daa7..cc8cf8a6c3036 100755
--- a/.ci/script.sh
+++ b/.ci/script.sh
@@ -6,7 +6,7 @@ if [ "$TRAVIS_PULL_REQUEST" = "false" ] && [ "$TRAVIS_OS_NAME" = "linux" ] && [
 mkdir build && cd build
 cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DDART_VERBOSE=ON -DDART_TREAT_WARNINGS_AS_ERRORS=ON -DDART_CODECOV=$CODECOV ..
 if [ "$TRAVIS_OS_NAME" = "linux" ]; then make -j4 tutorials examples tests; else make -j4 tests; fi
-if [ "$TRAVIS_OS_NAME" = "linux" ]; then make check-format; fi
+if [ "$TRAVIS_OS_NAME" = "linux" ] && [ $(lsb_release -sc) = "trusty" ]; then make check-format; fi
 if [ $CODECOV = ON ]; then make -j4 codecov; else ctest --output-on-failure -j4; fi
 
 # Make sure we can install with no issues
diff --git a/.travis.yml b/.travis.yml
index ee3ac6abf0ca0..189b25bd418e7 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -24,9 +24,6 @@ matrix:
     - os: linux
       env: DOCKER_FILE="ubuntu-xenial" BUILD_TYPE=Release CODECOV=OFF COMPILER=GCC
       services: docker
-    - os: linux
-      env: DOCKER_FILE="ubuntu-artful" BUILD_TYPE=Release CODECOV=OFF COMPILER=GCC
-      services: docker
     - os: linux
       env: DOCKER_FILE="ubuntu-bionic" BUILD_TYPE=Release CODECOV=OFF COMPILER=GCC
       services: docker
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 156623054007a..08dc248a2e6f1 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,6 +16,16 @@
 
 ## DART 6
 
+### DART 6.5.0 (201X-XX-XX)
+
+* GUI
+
+  * Added FOV API to OSG viewer: [#1048](https://github.com/dartsim/dart/pull/1048)
+
+* Simulation
+
+  * Added World::hasSkeleton(): [#1050](https://github.com/dartsim/dart/pull/1050)
+
 ### [DART 6.4.0 (2018-03-26)](https://github.com/dartsim/dart/milestone/39?closed=1)
 
 * Common
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1497e34a8784d..30db1d910ad18 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -275,7 +275,7 @@ if(TARGET dart)
   add_subdirectory(unittests EXCLUDE_FROM_ALL)
 
   # Add example subdirectories and an "examples" target.
-  add_subdirectory(examples)
+  add_subdirectory(examples EXCLUDE_FROM_ALL)
   get_property(examples GLOBAL PROPERTY DART_EXAMPLES)
   add_custom_target(examples DEPENDS ${examples})
 
@@ -291,7 +291,7 @@ if(TARGET dart)
   endif(DART_VERBOSE)
 
   # Add a "tutorials" target to build tutorials.
-  add_subdirectory(tutorials)
+  add_subdirectory(tutorials EXCLUDE_FROM_ALL)
   get_property(tutorials GLOBAL PROPERTY DART_TUTORIALS)
   add_custom_target(tutorials DEPENDS ${tutorials})
 
diff --git a/dart/gui/osg/Viewer.cpp b/dart/gui/osg/Viewer.cpp
index aa4c2abcc014c..3696c6370fc28 100644
--- a/dart/gui/osg/Viewer.cpp
+++ b/dart/gui/osg/Viewer.cpp
@@ -843,6 +843,68 @@ const ::osg::ref_ptr<::osg::Group>& Viewer::getRootGroup() const
   return mRootGroup;
 }
 
+//==============================================================================
+void Viewer::setVerticalFieldOfView(const double fov)
+{
+  double fovy;
+  double aspectRatio;
+  double zNear;
+  double zFar;
+
+  auto* camera = getCamera();
+
+  if (!camera)
+  {
+    dtwarn << "[Viewer::setMasterCameraFieldOfView] This viewer doesn't have "
+           << "any cameras. Ignoring this request.\n";
+    return;
+  }
+
+  const bool result = camera->getProjectionMatrixAsPerspective(
+      fovy, aspectRatio, zNear, zFar);
+
+  if (!result)
+  {
+    dtwarn << "[Viewer::setMasterCameraFieldOfView] Attemping to set vertical "
+           << "field of view while the camera isn't perspective view. "
+           << "Ignoring this request.\n";
+    return;
+  }
+
+  camera->setProjectionMatrixAsPerspective(fov, aspectRatio, zNear, zFar);
+}
+
+//==============================================================================
+double Viewer::getVerticalFieldOfView() const
+{
+  double fovy;
+  double aspectRatio;
+  double zNear;
+  double zFar;
+
+  const auto* camera = getCamera();
+
+  if (!camera)
+  {
+    dtwarn << "[Viewer::getMasterCameraFieldOfView] This viewer doesn't have "
+           << "any cameras. Returning 0.0.\n";
+    return 0.0;
+  }
+
+  const bool result = camera->getProjectionMatrixAsPerspective(
+      fovy, aspectRatio, zNear, zFar);
+
+  if (!result)
+  {
+    dtwarn << "[Viewer::getMasterCameraFieldOfView] Vertical field of view is "
+           << "requested while the camera isn't perspective view. "
+           << "Returning 0.0.\n";
+    return 0.0;
+  }
+
+  return fovy;
+}
+
 } // namespace osg
 } // namespace gui
 } // namespace dart
diff --git a/dart/gui/osg/Viewer.hpp b/dart/gui/osg/Viewer.hpp
index 817d15272bfd6..47109d99d6c41 100644
--- a/dart/gui/osg/Viewer.hpp
+++ b/dart/gui/osg/Viewer.hpp
@@ -293,6 +293,15 @@ class Viewer : public osgViewer::Viewer, public dart::common::Subject
   /// Get the root ::osg::Group of this Viewer
   const ::osg::ref_ptr<::osg::Group>& getRootGroup() const;
 
+  /// Sets the vertical field of view of the master camera of the view.
+  /// \param[in] fov Vertical field of view in degrees.
+  void setVerticalFieldOfView(double fov);
+
+  /// Returns the vertical field of view of the master camera of the view.
+  /// \return Vertical field of view in degrees if the camera is perspective
+  /// view, 0.0 otherwise.
+  double getVerticalFieldOfView() const;
+
 protected:
 
   friend class SaveScreen;
diff --git a/dart/simulation/World.cpp b/dart/simulation/World.cpp
index db31e47066f30..51ff870a224ce 100644
--- a/dart/simulation/World.cpp
+++ b/dart/simulation/World.cpp
@@ -391,6 +391,13 @@ std::set<dynamics::SkeletonPtr> World::removeAllSkeletons()
   return ptrs;
 }
 
+//==============================================================================
+bool World::hasSkeleton(const dynamics::ConstSkeletonPtr& skeleton) const
+{
+  return std::find(mSkeletons.begin(), mSkeletons.end(), skeleton)
+      != mSkeletons.end();
+}
+
 //==============================================================================
 int World::getIndex(int _index) const
 {
diff --git a/dart/simulation/World.hpp b/dart/simulation/World.hpp
index 90e840bede515..026743f3949fe 100644
--- a/dart/simulation/World.hpp
+++ b/dart/simulation/World.hpp
@@ -149,6 +149,9 @@ class World : public virtual common::Subject
   /// pointers to them, in case you want to recycle them
   std::set<dynamics::SkeletonPtr> removeAllSkeletons();
 
+  /// Returns wether this World contains a Skeleton.
+  bool hasSkeleton(const dynamics::ConstSkeletonPtr& skeleton) const;
+
   /// Get the dof index for the indexed skeleton
   int getIndex(int _index) const;
 
diff --git a/unittests/comprehensive/test_World.cpp b/unittests/comprehensive/test_World.cpp
index f15268343a203..bdbdd22b1b051 100644
--- a/unittests/comprehensive/test_World.cpp
+++ b/unittests/comprehensive/test_World.cpp
@@ -95,9 +95,16 @@ TEST(World, AddingAndRemovingSkeletons)
   for (int i = 0; i < nSteps; ++i)
       world->step();
 
+  EXPECT_FALSE(world->hasSkeleton(skeleton1));
+  EXPECT_FALSE(world->hasSkeleton(skeleton2));
+  EXPECT_FALSE(world->hasSkeleton(skeleton3));
+  EXPECT_FALSE(world->hasSkeleton(skeleton4));
+
   // Add skeleton1, skeleton2
   world->addSkeleton(skeleton1);
+  EXPECT_TRUE(world->hasSkeleton(skeleton1));
   world->addSkeleton(skeleton2);
+  EXPECT_TRUE(world->hasSkeleton(skeleton2));
   EXPECT_TRUE(world->getNumSkeletons() == 2);
   for (int i = 0; i < nSteps; ++i)
       world->step();
@@ -119,7 +126,9 @@ TEST(World, AddingAndRemovingSkeletons)
 
   // Add skeleton3, skeleton4
   world->addSkeleton(skeleton3);
+  EXPECT_TRUE(world->hasSkeleton(skeleton3));
   world->addSkeleton(skeleton4);
+  EXPECT_TRUE(world->hasSkeleton(skeleton4));
   EXPECT_TRUE(world->getNumSkeletons() == 3);
   for (int i = 0; i < nSteps; ++i)
       world->step();