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.

Why DART?

• Accuracy & Stability — Featherstone's Articulated Body Algorithm with proven numerical stability
• Unified Format Support — Load URDF, SDF, MJCF, and SKEL models through a single API
• Full-featured Collision — Multiple collision detection backends (FCL, Bullet, ODE)
• Constraint Dynamics — Joint limits, contacts, and closed-loop constraints solved together
• Cross-platform — Linux, macOS, Windows with Python bindings included
• Battle-tested — Powers Gazebo, research labs, and production systems worldwide

Quick Start

Python

import dartpy as dart

world = dart.World()

# Load a robot from URDF
urdf = dart.io.UrdfParser()
robot = urdf.parseSkeleton("dart://sample/urdf/KR5/KR5 sixx R650.urdf")
world.addSkeleton(robot)

# Simulate 100 steps
for _ in range(100):
    world.step()
    print(f"Positions: {robot.getPositions()}")

C++

#include <dart/dart.hpp>

int main() {
  auto world = dart::simulation::World::create();

  // Load a robot from URDF
  auto robot = dart::io::urdf::readSkeleton("path/to/robot.urdf");
  world->addSkeleton(robot);

  // Simulate 100 steps
  for (int i = 0; i < 100; ++i) {
    world->step();
    std::cout << "Positions: " << robot->getPositions().transpose() << "\n";
  }
  return 0;
}

Installation

Python (Recommended)

C++

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