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.

Install DART using your preferred package manager:

Python

pip install dartpy                        # PyPI
conda install -c conda-forge dartpy       # or Conda
pixi add dartpy                           # or Pixi

C++

# Cross-platform (recommended)
conda install -c conda-forge dartsim-cpp  # or: pixi add 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

• Developer Onboarding Guide - Comprehensive guide for new contributors covering architecture, components, and workflows
• Contributing Guide - Style guide and contribution process

For more information on DART, please visit the DART documentation: English | 한국어 (WIP)

An overview of DART is also available on DeepWiki.

Item	Status
Build
Doc, Coverage, Linter
Packages
Maintenance

If you use DART in an academic publication, please consider citing this JOSS Paper [BibTeX]