diff --git a/CHANGELOG.md b/CHANGELOG.md
index 53773ee61f86b..0938061aa2c1f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,10 @@
 
   * 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/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 63e4c37357380..c45855de92310 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();