Metadata-Version: 2.4
Name: dartpy
Version: 6.17.0
Summary: Python API of Dynamic Animation and Robotics Toolkit.
Home-page: https://github.com/dartsim/dart.git
Author: Jeongseok Lee
Author-email: jslee02@gmail.com
License: BSD 2-Clause
Keywords: dartsim robotics
Classifier: Development Status :: 2 - Pre-Alpha
Classifier: Framework :: Robot Framework
Classifier: Intended Audience :: Science/Research
Classifier: License :: OSI Approved :: BSD License
Classifier: Topic :: Scientific/Engineering
Classifier: Operating System :: Microsoft :: Windows
Classifier: Operating System :: MacOS
Classifier: Operating System :: POSIX :: Linux
Requires-Python: >=3.7
Description-Content-Type: text/markdown
License-File: LICENSE
Requires-Dist: numpy
Provides-Extra: test
Requires-Dist: pytest>=6.0; extra == "test"
Dynamic: author
Dynamic: author-email
Dynamic: classifier
Dynamic: description
Dynamic: description-content-type
Dynamic: home-page
Dynamic: keywords
Dynamic: license
Dynamic: license-file
Dynamic: provides-extra
Dynamic: requires-dist
Dynamic: requires-python
Dynamic: summary

# 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)]

