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]
1 maintainer
Metadata
1 maintainer
Release files for dartpy 6.19.5
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Built distributions (wheels)
| File | Reset | |||
|---|---|---|---|---|
| dartpy-6.19.5-cp313-cp313-win_amd64.whl | CPython 3.13 | CPython 3.13 | Windows x86-64 | Details |
| dartpy-6.19.5-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl | CPython 3.13 | CPython 3.13 | Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64 | Details |
| dartpy-6.19.5-cp313-cp313-macosx_15_0_arm64.whl | CPython 3.13 | CPython 3.13 | macOS 15.0+ ARM64 | Details |
| dartpy-6.19.5-cp312-cp312-win_amd64.whl | CPython 3.12 | CPython 3.12 | Windows x86-64 | Details |
| dartpy-6.19.5-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl | CPython 3.12 | CPython 3.12 | Linux glibc 2.28+ x86-64, Linux glibc 2.27+ x86-64 | Details |
| dartpy-6.19.5-cp312-cp312-macosx_15_0_arm64.whl | CPython 3.12 | CPython 3.12 | macOS 15.0+ ARM64 | Details |
| dartpy-6.19.5-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl | CPython 3.11 | CPython 3.11 | Linux glibc 2.28+ x86-64, Linux glibc 2.27+ x86-64 | Details |
| dartpy-6.19.5-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl | 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-6.19.5-cp313-cp313-win_amd64.whl
| Download URL | dartpy-6.19.5-cp313-cp313-win_amd64.whl |
|---|---|
| Size | 9.4 MB |
| Tags | CPython 3.13 Windows x86-64 |
|
SHA-256 checksum How to use checksums |
0def0f2ccbd8110e7fc43417c923906df1c870df0bffaa85f73a69fad62b4ed3
|
|
BLAKE2b-256 checksum How to use checksums |
94fa2aa9d9f71ce024def9b3778f25bc0782a1076d324058b4497f8f88a51d68
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
twine/6.1.0 CPython/3.13.7
|
Release files / dartpy-6.19.5-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
| Download URL | dartpy-6.19.5-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl |
|---|---|
| Size | 16.3 MB |
| Tags | CPython 3.13 Linux glibc 2.27+ x86-64 Linux glibc 2.28+ x86-64 |
|
SHA-256 checksum How to use checksums |
4b83c8a5355c68b894d8d8af83412d32fa4b51d6d2e59ad0bc75f9c31a656493
|
|
BLAKE2b-256 checksum How to use checksums |
7f72dd130159dfef92296fe2b579b6b3b74782c2e1ee214d6450f61d50c0bbed
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
twine/6.1.0 CPython/3.13.7
|
Release files / dartpy-6.19.5-cp313-cp313-macosx_15_0_arm64.whl
| Download URL | dartpy-6.19.5-cp313-cp313-macosx_15_0_arm64.whl |
|---|---|
| Size | 10.9 MB |
| Tags | CPython 3.13 macOS 15.0+ ARM64 |
|
SHA-256 checksum How to use checksums |
fe930f7fd1c1f3796dd1b3576d563e1d8b3f97b108ecc8fdc740da4bd5f3015a
|
|
BLAKE2b-256 checksum How to use checksums |
dc92bca0687a5cc2077d56f55510a2a6133efc77b5f84124aef4c2afac9b0e52
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
twine/6.1.0 CPython/3.13.7
|
Release files / dartpy-6.19.5-cp312-cp312-win_amd64.whl
| Download URL | dartpy-6.19.5-cp312-cp312-win_amd64.whl |
|---|---|
| Size | 9.4 MB |
| Tags | CPython 3.12 Windows x86-64 |
|
SHA-256 checksum How to use checksums |
cb047f1d610c31e57b4ff2ccc7294ab4151fec2fad67e439cd5b7b6b73ed0124
|
|
BLAKE2b-256 checksum How to use checksums |
1498b9caa2cd5e89fda372d9ceaf759c8bcd3fd87a8c0bc6865133d9f510b88a
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
twine/6.1.0 CPython/3.13.7
|
Release files / dartpy-6.19.5-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
| Download URL | dartpy-6.19.5-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl |
|---|---|
| Size | 16.3 MB |
| Tags | CPython 3.12 Linux glibc 2.27+ x86-64 Linux glibc 2.28+ x86-64 |
|
SHA-256 checksum How to use checksums |
4cd752733140760eb715a390ea1ff3ba97c0e3e85aaef6df30193241c5d51783
|
|
BLAKE2b-256 checksum How to use checksums |
4456e433cd87f408b7b97d770bafe4edf8c244b75889559a7efc424be84cd2e5
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
twine/6.1.0 CPython/3.13.7
|
Release files / dartpy-6.19.5-cp312-cp312-macosx_15_0_arm64.whl
| Download URL | dartpy-6.19.5-cp312-cp312-macosx_15_0_arm64.whl |
|---|---|
| Size | 10.9 MB |
| Tags | CPython 3.12 macOS 15.0+ ARM64 |
|
SHA-256 checksum How to use checksums |
d4029195ac150b62afbd22bfddd79c6db5438ebd1b57b4859f09fbafd5bed5c6
|
|
BLAKE2b-256 checksum How to use checksums |
820c602a89e7cd93b342971c43f2eb25d3927d85f4b3fa3c4fc5e3dd0ce49170
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
twine/6.1.0 CPython/3.13.7
|
Release files / dartpy-6.19.5-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
| Download URL | dartpy-6.19.5-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl |
|---|---|
| Size | 16.2 MB |
| Tags | CPython 3.11 Linux glibc 2.27+ x86-64 Linux glibc 2.28+ x86-64 |
|
SHA-256 checksum How to use checksums |
017130865fb2b54bd26def57e2744163e76b11f2bce9e691d07cd363956a038a
|
|
BLAKE2b-256 checksum How to use checksums |
9d1c70fb72567aba91999b8e0c8770abb6b4c25c3d175e5a22e62aa2169c9cac
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
twine/6.1.0 CPython/3.13.7
|
Release files / dartpy-6.19.5-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
| Download URL | dartpy-6.19.5-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl |
|---|---|
| Size | 16.2 MB |
| Tags | CPython 3.10 Linux glibc 2.27+ x86-64 Linux glibc 2.28+ x86-64 |
|
SHA-256 checksum How to use checksums |
142c7c1e297d5ca97670dc45a87e1ef5d43da5d143459138d0032dcfb220ca87
|
|
BLAKE2b-256 checksum How to use checksums |
a936253ee0ea8909ae2400a9090e005376f93d11882e3603535a015b7479a599
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
twine/6.1.0 CPython/3.13.7
|
