https://github.com/dartsim/dart

DART: Dynamic Animation and Robotics Toolkit
https://github.com/dartsim/dart

computer-animation dynamics kinematics lie-group robotics simulation

Last synced: 10 days ago
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DART: Dynamic Animation and Robotics Toolkit

• Host: GitHub
• URL: https://github.com/dartsim/dart
• Owner: dartsim
• License: bsd-2-clause
• Created: 2011-09-19T21:53:51.000Z (over 14 years ago)
• Default Branch: main
• Last Pushed: 2025-10-21T00:08:44.000Z (3 months ago)
• Last Synced: 2025-10-21T20:56:55.508Z (3 months ago)
• Topics: computer-animation, dynamics, kinematics, lie-group, robotics, simulation
• Language: C++
• Homepage: https://dart.readthedocs.io
• Size: 784 MB
• Stars: 1,008
• Watchers: 62
• Forks: 288
• Open Issues: 162
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.md
  • Contributing: CONTRIBUTING.md
  • License: LICENSE
  • Citation: CITATION.bib
  • Agents: AGENTS.md

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README

          
# 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

Install DART using your preferred package manager:

**Python**

```shell

uv add dartpy                             # uv (preferred)

pip install dartpy                        # PyPI

pixi add dartpy                           # or Pixi (preferred)

conda install -c conda-forge dartpy       # or Conda

```

**C++**

```shell

# Cross-platform (recommended)

pixi add dartsim-cpp  # or: conda install -c conda-forge dartsim-cpp

# Platform-specific

sudo apt install libdart-all-dev          # Ubuntu

yay -S libdart                            # Arch Linux

pkg install dartsim                       # FreeBSD

brew install dartsim                      # macOS

vcpkg install dartsim:x64-windows         # Windows

```

## Documentation

### User Documentation

For more information on DART, please visit the DART documentation: [English](https://dart.readthedocs.io/) | [한국어](https://dart-ko.readthedocs.io/)

An overview of DART is also available on [DeepWiki](https://deepwiki.com/dartsim/dart).

### Developer Resources

- **[Developer Onboarding Guide](docs/onboarding/README.md)** - Comprehensive guide for new contributors covering architecture, components, and workflows

- **[Contributing Guide](CONTRIBUTING.md)** - Style guide and contribution process

- **[Gazebo / gz-physics integration workflow](docs/onboarding/build-system.md#gazebo-integration-feature)** - How to run `pixi run -e gazebo test-gz` locally and interpret failures

## Project Status

| Item                  | Status                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    |

| --------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |

| Build                 | [![CI Ubuntu](https://github.com/dartsim/dart/actions/workflows/ci_ubuntu.yml/badge.svg)](https://github.com/dartsim/dart/actions/workflows/ci_ubuntu.yml) [![CI macOS](https://github.com/dartsim/dart/actions/workflows/ci_macos.yml/badge.svg)](https://github.com/dartsim/dart/actions/workflows/ci_macos.yml) [![CI Windows](https://github.com/dartsim/dart/actions/workflows/ci_windows.yml/badge.svg)](https://github.com/dartsim/dart/actions/workflows/ci_windows.yml)                          |

| Doc, Coverage, Linter | [![Documentation Status](https://readthedocs.org/projects/dart/badge/?version=latest)](https://dart.readthedocs.io/en/latest/?badge=latest) [![codecov](https://codecov.io/gh/dartsim/dart/branch/main/graph/badge.svg)](https://codecov.io/gh/dartsim/dart) [![Codacy Badge](https://app.codacy.com/project/badge/Grade/2d95a9b951be4b73a71097670ec351e8)](https://www.codacy.com/gh/dartsim/dart/dashboard?utm_source=github.com&utm_medium=referral&utm_content=dartsim/dart&utm_campaign=Badge_Grade) |

| Packages              | [![Anaconda-Server Badge](https://anaconda.org/conda-forge/dartsim/badges/version.svg)](https://anaconda.org/conda-forge/dartsim) [![PyPI Version](https://img.shields.io/pypi/v/dartpy)](https://pypi.org/project/dartpy/) [All Distributions →](https://repology.org/project/dart-sim/versions)                                                                                                                                                                                                         |

## Release & Branch Strategy

- `main`: active development targeting DART 7.

- `release-6.16`: maintenance branch for DART 6 (critical fixes only).

Details on compatibility, deprecations, and the full roadmap live in `docs/onboarding/release-roadmap.md`.

## Citation

If you use DART in an academic publication, please consider citing this [JOSS Paper](https://doi.org/10.21105/joss.00500) [[BibTeX](https://gist.github.com/jslee02/998b8809e3ae1b7aef6ef04dd2ad5e27)]