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https://app.stepsecurity.io/secureworkflow/dartsim/dart/api_doc.yml/main?enable=pin","Warn: third-party GitHubAction not pinned by hash: .github/workflows/cache_docker.yml:41: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/cache_docker.yml/main?enable=pin","Warn: third-party GitHubAction not pinned by hash: .github/workflows/cache_docker.yml:44: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/cache_docker.yml/main?enable=pin","Warn: third-party GitHubAction not pinned by hash: .github/workflows/cache_docker.yml:47: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/cache_docker.yml/main?enable=pin","Warn: third-party GitHubAction not pinned by hash: .github/workflows/cache_docker.yml:54: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/cache_docker.yml/main?enable=pin","Warn: third-party GitHubAction not pinned by hash: .github/workflows/cache_docker.yml:80: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/cache_docker.yml/main?enable=pin","Warn: third-party GitHubAction not pinned by hash: .github/workflows/cache_docker.yml:83: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/cache_docker.yml/main?enable=pin","Warn: third-party GitHubAction not pinned by hash: .github/workflows/cache_docker.yml:86: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/cache_docker.yml/main?enable=pin","Warn: third-party GitHubAction not pinned by hash: .github/workflows/cache_docker.yml:93: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/cache_docker.yml/main?enable=pin","Warn: GitHub-owned GitHubAction not pinned by hash: .github/workflows/ci_gz_physics.yml:29: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/ci_gz_physics.yml/main?enable=pin","Warn: third-party GitHubAction not pinned by hash: .github/workflows/ci_gz_physics.yml:32: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/ci_gz_physics.yml/main?enable=pin","Warn: third-party GitHubAction not pinned by hash: .github/workflows/ci_gz_physics.yml:37: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/ci_gz_physics.yml/main?enable=pin","Warn: GitHub-owned GitHubAction not pinned by hash: .github/workflows/ci_macos.yml:34: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/ci_macos.yml/main?enable=pin","Warn: third-party GitHubAction not pinned by hash: .github/workflows/ci_macos.yml:37: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/ci_macos.yml/main?enable=pin","Warn: third-party GitHubAction not pinned by hash: .github/workflows/ci_ubuntu.yml:57: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/ci_ubuntu.yml/main?enable=pin","Warn: GitHub-owned GitHubAction not pinned by hash: .github/workflows/ci_ubuntu.yml:59: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/ci_ubuntu.yml/main?enable=pin","Warn: GitHub-owned GitHubAction not pinned by hash: .github/workflows/ci_ubuntu.yml:84: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/ci_ubuntu.yml/main?enable=pin","Warn: third-party GitHubAction not pinned by hash: .github/workflows/ci_ubuntu.yml:87: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/ci_ubuntu.yml/main?enable=pin","Warn: third-party GitHubAction not pinned by hash: .github/workflows/ci_ubuntu.yml:91: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/ci_ubuntu.yml/main?enable=pin","Warn: GitHub-owned GitHubAction not pinned by hash: .github/workflows/ci_windows.yml:33: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/ci_windows.yml/main?enable=pin","Warn: third-party GitHubAction not pinned by hash: .github/workflows/ci_windows.yml:36: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/ci_windows.yml/main?enable=pin","Warn: GitHub-owned GitHubAction not pinned by hash: .github/workflows/publish_dartpy.yml:24: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/publish_dartpy.yml/main?enable=pin","Warn: GitHub-owned GitHubAction not pinned by hash: .github/workflows/publish_dartpy.yml:27: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/publish_dartpy.yml/main?enable=pin","Warn: GitHub-owned GitHubAction not pinned by hash: .github/workflows/publish_dartpy.yml:98: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/publish_dartpy.yml/main?enable=pin","Warn: third-party GitHubAction not pinned by hash: .github/workflows/publish_dartpy.yml:102: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/publish_dartpy.yml/main?enable=pin","Warn: third-party GitHubAction not pinned by hash: .github/workflows/publish_dartpy.yml:128: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/publish_dartpy.yml/main?enable=pin","Warn: third-party GitHubAction not pinned by hash: .github/workflows/publish_dartpy.yml:138: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/publish_dartpy.yml/main?enable=pin","Warn: GitHub-owned GitHubAction not pinned by hash: .github/workflows/publish_dartpy.yml:146: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/publish_dartpy.yml/main?enable=pin","Warn: GitHub-owned GitHubAction not pinned by hash: .github/workflows/publish_dartpy.yml:176: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/publish_dartpy.yml/main?enable=pin","Warn: third-party GitHubAction not pinned by hash: .github/workflows/publish_dartpy.yml:187: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/publish_dartpy.yml/main?enable=pin","Warn: GitHub-owned GitHubAction not pinned by hash: .github/workflows/update_lockfiles.yml:19: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/update_lockfiles.yml/main?enable=pin","Warn: third-party GitHubAction not pinned by hash: .github/workflows/update_lockfiles.yml:23: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/update_lockfiles.yml/main?enable=pin","Warn: third-party GitHubAction not pinned by hash: .github/workflows/update_lockfiles.yml:31: update your workflow using https://app.stepsecurity.io/secureworkflow/dartsim/dart/update_lockfiles.yml/main?enable=pin","Warn: containerImage not pinned by hash: .devcontainer/Dockerfile:1: pin your Docker image by updating jslee02/dart-dev:ubuntu-jammy-v6.15 to jslee02/dart-dev:ubuntu-jammy-v6.15@sha256:36c6e424fc28fa463c03c353a6efae1147d417cff213f472b411843da53f1a4a","Warn: containerImage not pinned by hash: Dockerfile:1: pin your Docker image by updating ubuntu:focal to ubuntu:focal@sha256:8feb4d8ca5354def3d8fce243717141ce31e2c428701f6682bd2fafe15388214","Warn: containerImage not pinned by hash: docker/dev/v6.15/Dockerfile.manylinux_2_28_x86_64:2","Warn: containerImage not pinned by hash: docker/dev/v6.15/Dockerfile.ubuntu.jammy:2: pin your Docker image by updating ubuntu:jammy to ubuntu:jammy@sha256:1aa979d85661c488ce030ac292876cf6ed04535d3a237e49f61542d8e5de5ae0","Warn: containerImage not pinned by hash: docker/dev/v6.15/Dockerfile.ubuntu.noble:2: pin your Docker image by updating ubuntu:noble to ubuntu:noble@sha256:7c06e91f61fa88c08cc74f7e1b7c69ae24910d745357e0dfe1d2c0322aaf20f9","Warn: containerImage not pinned by hash: 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dependencies pinned","Info:   0 out of  23 third-party GitHubAction dependencies pinned","Info:   0 out of   7 containerImage dependencies pinned","Info:   0 out of   6 pipCommand dependencies pinned","Info:   0 out of   1 downloadThenRun dependencies pinned"],"documentation":{"short":"Determines if the project has declared and pinned the dependencies of its build process.","url":"https://github.com/ossf/scorecard/blob/f6ed084d17c9236477efd66e5b258b9d4cc7b389/docs/checks.md#pinned-dependencies"}},{"name":"Vulnerabilities","score":5,"reason":"5 existing vulnerabilities detected","details":["Warn: Project is vulnerable to: GHSA-cpwx-vrp4-4pq7","Warn: Project is vulnerable to: GHSA-gmj6-6f8f-6699","Warn: Project is vulnerable to: GHSA-h5c8-rqwp-cp95","Warn: Project is vulnerable to: GHSA-h75v-3vvj-5mfj","Warn: Project is vulnerable to: GHSA-q2x7-8rv6-6q7h"],"documentation":{"short":"Determines if the project has open, known unfixed 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align=\"center\"\u003e\n  \u003cimg src=\"https://raw.githubusercontent.com/dartsim/dart/main/docs/dart_logo_377x107.jpg\" alt=\"DART: Dynamic Animation and Robotics Toolkit\"\u003e\n\u003c/p\u003e\n\n\u003cp align=\"center\"\u003e\n  \u003ca href=\"https://github.com/dartsim/dart/actions/workflows/ci_ubuntu.yml\"\u003e\u003cimg src=\"https://github.com/dartsim/dart/actions/workflows/ci_ubuntu.yml/badge.svg\" alt=\"CI Ubuntu\"\u003e\u003c/a\u003e\n  \u003ca href=\"https://github.com/dartsim/dart/actions/workflows/ci_macos.yml\"\u003e\u003cimg src=\"https://github.com/dartsim/dart/actions/workflows/ci_macos.yml/badge.svg\" alt=\"CI macOS\"\u003e\u003c/a\u003e\n  \u003ca href=\"https://github.com/dartsim/dart/actions/workflows/ci_windows.yml\"\u003e\u003cimg src=\"https://github.com/dartsim/dart/actions/workflows/ci_windows.yml/badge.svg\" alt=\"CI Windows\"\u003e\u003c/a\u003e\n  \u003cbr\u003e\n  \u003ca href=\"https://dart.readthedocs.io/en/latest/?badge=latest\"\u003e\u003cimg src=\"https://readthedocs.org/projects/dart/badge/?version=latest\" alt=\"Documentation Status\"\u003e\u003c/a\u003e\n  \u003ca href=\"https://deepwiki.com/dartsim/dart\"\u003e\u003cimg src=\"https://deepwiki.com/badge.svg\" alt=\"Ask DeepWiki\"\u003e\u003c/a\u003e\n  \u003ca href=\"https://codecov.io/gh/dartsim/dart\"\u003e\u003cimg src=\"https://codecov.io/gh/dartsim/dart/branch/main/graph/badge.svg\" alt=\"codecov\"\u003e\u003c/a\u003e\n  \u003ca href=\"https://app.codacy.com/gh/dartsim/dart/dashboard?utm_source=github.com\u0026utm_medium=referral\u0026utm_content=dartsim/dart\u0026utm_campaign=Badge_Grade\"\u003e\u003cimg src=\"https://app.codacy.com/project/badge/Grade/2d95a9b951be4b73a71097670ec351e8\" alt=\"Codacy Badge\"\u003e\u003c/a\u003e\n  \u003cbr\u003e\n  \u003ca href=\"https://anaconda.org/conda-forge/dartsim\"\u003e\u003cimg src=\"https://anaconda.org/conda-forge/dartsim/badges/version.svg\" alt=\"Anaconda-Server Badge\"\u003e\u003c/a\u003e\n  \u003ca href=\"https://pypi.org/project/dartpy/\"\u003e\u003cimg src=\"https://img.shields.io/pypi/v/dartpy\" alt=\"PyPI Version\"\u003e\u003c/a\u003e\n  \u003ca href=\"https://github.com/dartsim/dart/blob/main/LICENSE\"\u003e\u003cimg src=\"https://img.shields.io/badge/License-BSD_2--Clause-blue.svg\" alt=\"License\"\u003e\u003c/a\u003e\n\u003c/p\u003e\n\nDART (Dynamic Animation and Robotics Toolkit) is an open-source library that\nprovides data structures and algorithms for kinematic and dynamic applications\nin robotics and computer animation. Renowned for its accuracy and stability,\nDART utilizes generalized coordinates to represent articulated rigid body\nsystems and employs Featherstone's Articulated Body Algorithm to compute motion\ndynamics.\n\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"docs/assets/unitree_g1_demo.gif\" width=\"720\" alt=\"Unitree G1 humanoid demo\" /\u003e\n\u003c/p\u003e\n\n## Why DART?\n\n- **Accuracy \u0026 Stability** — Featherstone's Articulated Body Algorithm with proven numerical stability\n- **Unified Format Support** — Load URDF, SDF, MJCF, and SKEL models through a single API\n- **Full-featured Collision** — Multiple collision detection backends (FCL, Bullet, ODE)\n- **Constraint Dynamics** — Joint limits, contacts, and closed-loop constraints solved together\n- **Cross-platform** — Linux, macOS, Windows with Python bindings included\n- **Battle-tested** — Powers [Gazebo](https://gazebosim.org), research labs, and production systems worldwide\n\n## Quick Start\n\n**Python**\n\n```python\nimport dartpy as dart\n\nworld = dart.World()\n\n# Load a robot from URDF\nurdf = dart.io.UrdfParser()\nrobot = urdf.parseSkeleton(\"dart://sample/urdf/KR5/KR5 sixx R650.urdf\")\nworld.addSkeleton(robot)\n\n# Simulate 100 steps\nfor _ in range(100):\n    world.step()\n    print(f\"Positions: {robot.getPositions()}\")\n```\n\n**C++**\n\n```cpp\n#include \u003cdart/dart.hpp\u003e\n\nint main() {\n  auto world = dart::simulation::World::create();\n\n  // Load a robot from URDF\n  auto robot = dart::io::urdf::readSkeleton(\"path/to/robot.urdf\");\n  world-\u003eaddSkeleton(robot);\n\n  // Simulate 100 steps\n  for (int i = 0; i \u003c 100; ++i) {\n    world-\u003estep();\n    std::cout \u003c\u003c \"Positions: \" \u003c\u003c robot-\u003egetPositions().transpose() \u003c\u003c \"\\n\";\n  }\n  return 0;\n}\n```\n\n## Installation\n\n### Python (Recommended)\n\n| Method             | Command                               |\n| ------------------ | ------------------------------------- |\n| **uv** (preferred) | `uv add dartpy`                       |\n| **pip**            | `pip install dartpy`                  |\n| **pixi**           | `pixi add dartpy`                     |\n| **conda**          | `conda install -c conda-forge dartpy` |\n\n### C++\n\n| Platform                         | Command                                                              |\n| -------------------------------- | -------------------------------------------------------------------- |\n| **Cross-platform** (recommended) | `pixi add dartsim-cpp` or `conda install -c conda-forge dartsim-cpp` |\n| Ubuntu                           | `sudo apt install libdart-all-dev`                                   |\n| Arch Linux                       | `yay -S libdart`                                                     |\n| FreeBSD                          | `pkg install dartsim`                                                |\n| macOS                            | `brew install dartsim`                                               |\n| Windows                          | `vcpkg install dartsim:x64-windows`                                  |\n\n[All distributions →](https://repology.org/project/dart-sim/versions)\n\n## Documentation\n\n- **Static Docs**: [English](https://dart.readthedocs.io/) | [한국어](https://dart-ko.readthedocs.io/)\n- **AI Docs (interactive Q\u0026A; experimental)**: [DeepWiki](https://deepwiki.com/dartsim/dart) | [NotebookLM](https://notebooklm.google.com/notebook/c0cfc8ce-17ae-415a-a615-44c4342f0da6) (Google account required)\n\n### Developer Resources\n\n- **[Developer Onboarding Guide](docs/onboarding/README.md)** — Architecture, components, and workflows\n- **[Contributing Guide](CONTRIBUTING.md)** — Style guide and contribution process\n- **[Gazebo Integration](docs/onboarding/build-system.md#gazebo-integration-feature)** — gz-physics integration workflow\n- **[Release Roadmap](docs/onboarding/release-roadmap.md)** — Compatibility, deprecations, and future plans\n\n#### Branches\n\n- `main` — Active development targeting DART 7\n- `release-6.16` — Maintenance branch for DART 6 (critical fixes only)\n\n## Citation\n\nIf you use DART in an academic publication, please consider citing this [JOSS Paper](https://doi.org/10.21105/joss.00500):\n\n```bibtex\n@article{Lee2018,\n  doi = {10.21105/joss.00500},\n  url = {https://doi.org/10.21105/joss.00500},\n  year = {2018},\n  publisher = {The Open Journal},\n  volume = {3},\n  number = {22},\n  pages = {500},\n  author = {Jeongseok Lee and Michael X. Grey and Sehoon Ha and Tobias Kunz and Sumit Jain and Yuting Ye and Siddhartha S. Srinivasa and Mike Stilman and C. Karen Liu},\n  title = {DART: Dynamic Animation and Robotics Toolkit},\n  journal = {Journal of Open Source Software}\n}\n```\n\n## License\n\nDART is licensed under the [BSD 2-Clause License](LICENSE).\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fdartsim%2Fdart","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fdartsim%2Fdart","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fdartsim%2Fdart/lists"}