dartpy 6.16.7
Python API of Dynamic Animation and Robotics Toolkit.
License: BSD 2-Clause
Requires Python: >=3.7
Keywords: dartsim robotics

# DART

<br>
<p align="center">
  <img src="https://raw.githubusercontent.com/dartsim/dart/master/docs/dart_logo_377x107.jpg" alt="DART: Dynamic Animation and Robotics Toolkit">
</p>

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:

```shell
conda install -c conda-forge dartsim-cpp
```

Pixi:

```shell
pixi add dartsim-cpp
```

#### Linux

Ubuntu:

```shell
sudo apt install libdart-all-dev
```

Arch Linux:

```shell
yay -S libdart
```

FreeBSD:

```shell
pkg install dartsim
```

#### macOS (Homebrew)

```shell
brew install dartsim
```

#### Windows (Vcpkg)

```shell
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:

```shell
conda install -c conda-forge dartpy
```

Pixi:

```shell
pixi add dartpy
```

PyPI (deprecated):

```shell
pip install dartpy
```

## Documentation

For more information on DART, please visit the DART documentation: [English](https://dart.readthedocs.io/) | [한국어](https://dart-ko.readthedocs.io/) (WIP)

An overview of DART is also available on [DeepWiki](https://deepwiki.com/dartsim/dart).

## 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 | [![API Documentation](https://github.com/dartsim/dart/actions/workflows/api_doc.yml/badge.svg)](https://github.com/dartsim/dart/actions/workflows/api_doc.yml)  [![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&amp;utm_medium=referral&amp;utm_content=dartsim/dart&amp;utm_campaign=Badge_Grade) |
| Packages              | [![Packaging status](https://repology.org/badge/vertical-allrepos/dart-sim.svg)](https://repology.org/project/dart-sim/versions) [![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/) |
| Maintenance           | [![Average time to resolve an issue](http://isitmaintained.com/badge/resolution/dartsim/dart.svg)](http://isitmaintained.com/project/dartsim/dart "Average time to resolve an issue") [![Percentage of issues still open](http://isitmaintained.com/badge/open/dartsim/dart.svg)](http://isitmaintained.com/project/dartsim/dart "Percentage of issues still open") |

## 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)]