Awesome
DART
<br> <p align="center"> <img src="https://raw.githubusercontent.com/dartsim/dart/master/docs/dart_logo_377x107.jpg" alt="DART: Dynamic Animation and Robotics Toolkit"> </p>DART (Dynamic Animation and Robotics Toolkit) is an open-source library that provides data structures and algorithms for kinematic and dynamic applications in robotics and computer animation. Renowned for its accuracy and stability, DART utilizes generalized coordinates to represent articulated rigid body systems and employs Featherstone's Articulated Body Algorithm to compute motion dynamics.
Getting Started
DART provides both C++ and Python interfaces, which can be installed using various package managers. For cross-platform compatibility, we recommend using Conda or Pixi.
C++
Cross-Platform (Recommended)
Conda:
conda install -c conda-forge dartsim-cpp
Pixi:
pixi add dartsim-cpp
Linux
Ubuntu:
sudo apt install libdart-all-dev
Arch Linux:
yay -S libdart
FreeBSD:
pkg install dartsim
macOS (Homebrew)
brew install dartsim
Windows (Vcpkg)
vcpkg install dartsim:x64-windows
Python
For the Python interface, we recommend using Conda or Pixi. Note that the PyPI package is being deprecated to reduce maintenance—contributions are welcome!
Conda:
conda install -c conda-forge dartpy
Pixi:
pixi add dartpy
PyPI (deprecated):
pip install dartpy
Documentation
For more information on DART, please visit the DART documentation: English | 한국어 (WIP)
Project Status
| Item | Status |
|---|---|
| Build |    |
| Doc, Coverage, Linter |   |
| Packages |   |
| Maintenance |   |
Citation
If you use DART in an academic publication, please consider citing this JOSS Paper [BibTeX]