DART


DART: Dynamic Animation and Robotics Toolkit

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 CI Ubuntu CI macOS CI Windows
Doc, Coverage, Linter API Documentation Documentation Status codecov Codacy Badge
Packages Packaging status Anaconda-Server Badge PyPI Version
Maintenance Average time to resolve an issue Percentage of issues still open

Citation

If you use DART in an academic publication, please consider citing this JOSS Paper [BibTeX]

Project links

Key dates

PyPI data
Data sourced directly from PyPI's database.
  • Released:
Latest release

1 maintainer

PyPI data
Data sourced directly from PyPI's database.
Avatar for jslee from gravatar.com jslee

Credits

Data verified by PyPI on Jul 19, 2026
Data provided by the project maintainers, verified at the time the release was uploaded to PyPI. Confirms that the provided email matches a verified, public email address on a PyPI user account associated with the project.

Author: Jeongseok Lee

License

BSD License (BSD 2-Clause)

Requires

Python >=3.7

Provides Extra

test

Tags

dartsim robotics

Classifiers

Report project as malware

Release files for dartpy 6.19.4

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Table of built distributions (wheels) for dartpy 6.19.4
File
dartpy-6.19.4-cp313-cp313-win_amd64.whl 9.4 MB CPython 3.13 CPython 3.13 Windows x86-64 Details
dartpy-6.19.4-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 16.3 MB CPython 3.13 CPython 3.13 Linux glibc 2.28+ x86-64, Linux glibc 2.27+ x86-64 Details
dartpy-6.19.4-cp313-cp313-macosx_15_0_arm64.whl 10.9 MB CPython 3.13 CPython 3.13 macOS 15.0+ ARM64 Details
dartpy-6.19.4-cp312-cp312-win_amd64.whl 9.4 MB CPython 3.12 CPython 3.12 Windows x86-64 Details
dartpy-6.19.4-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 16.3 MB CPython 3.12 CPython 3.12 Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64 Details
dartpy-6.19.4-cp312-cp312-macosx_15_0_arm64.whl 10.9 MB CPython 3.12 CPython 3.12 macOS 15.0+ ARM64 Details
dartpy-6.19.4-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 16.2 MB CPython 3.11 CPython 3.11 Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64 Details
dartpy-6.19.4-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 16.2 MB CPython 3.10 CPython 3.10 Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64 Details

Total release size: 105.5 MB

Release files / dartpy-6.19.4-cp313-cp313-win_amd64.whl

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Size 9.4 MB
Tags CPython 3.13 Windows x86-64
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Size 10.9 MB
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Size 9.4 MB
Tags CPython 3.12 Windows x86-64
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Download URL dartpy-6.19.4-cp312-cp312-macosx_15_0_arm64.whl
Size 10.9 MB
Tags CPython 3.12 macOS 15.0+ ARM64
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6.19.4 This release

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