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.
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.
Conda:
conda install -c conda-forge dartsim-cppPixi:
pixi add dartsim-cppUbuntu:
sudo apt install libdart-all-devArch Linux:
yay -S libdartFreeBSD:
pkg install dartsimbrew install dartsimvcpkg install dartsim:x64-windowsFor 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 dartpyPixi:
pixi add dartpyPyPI (deprecated):
pip install dartpyFor more information on DART, please visit the DART documentation: English | 한국어 (WIP)
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If you use DART in an academic publication, please consider citing this JOSS Paper [BibTeX]