DART

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)

An overview of DART is also available on DeepWiki.

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]