DART 문서에 오신걸 환영합니다!

소개

DART (Dynamic Animation and Robotics Toolkit) is a collaborative, cross-platform, open-source, research-focused physics engine developed by the Graphics Lab and Humanoid Robotics Lab at the Georgia Institute of Technology, with ongoing contributions from the Personal Robotics Lab at the University of Washington and the Open Source Robotics Foundation. It provides data structures and algorithms for kinematic and dynamic applications in robotics, animation, and machine learning. DART is designed for users who need transparent dynamics, collision, and constraint-solving foundations rather than a black-box simulator. Its accuracy and stability come from generalized coordinates for articulated rigid body systems and Featherstone’s Articulated Body Algorithm for motion dynamics.

Why DART?

Easy to start from Python or C++ packages, with reproducible source builds available through pixi.
Research-grade dynamics with direct access to mass matrices, Jacobians, forces, constraints, contacts, and other internal quantities.
Extensible foundations for implementing new algorithms and comparing them against existing DART baselines.
Cross-platform CPU support today, with roadmap work for multi-core, SIMD, and accelerator backends.
Production and research ecosystem use through Gazebo, robotics labs, and downstream applications, with best-effort support for production use.

AI Docs (Interactive Q&A; Experimental)

The official documentation is the source of truth. If you want AI-assisted Q&A and summaries, try:

DeepWiki
NotebookLM (Google account required)

These tools are experimental and may be incomplete or occasionally outdated.

Documentation can lag behind the code as the project evolves; please report outdated pages or errors in GitHub Issues.

News and Announcements

For updates and announcements, see the GitHub Discussions Announcements category. Release notes are available in GitHub Releases and the CHANGELOG.

Project Stats

Track GitHub interest over time with Star History.

DART의 다음 버전에 대한 비전

For the current research-focused direction and active execution plans, see the DART north star and living plans.

파이썬 바인딩을 일등급 컴포넌트로 만들어 C++ API와 동등한 기능을 제공하고 실험 단계를 벗어나게 합니다.
사용자가 필요한 최소한의 의존성을 사용하여 특정 컴포넌트를 선택할 수 있도록 라이브러리를 모듈화하여 불필요한 부분을 포함한 전체 라이브러리를 사용하지 않아도 됩니다.
사용 가능하고 사용자가 활성화할 경우 SIMD, 멀티코어 CPU 및 GPU 등 하드웨어 가속을 활용하여 전반적인 성능을 극대화합니다.
단일 및 더블 정밀도를 모두 지원하며, 필요한 스칼라 유형으로 라이브러리를 컴파일하거나 템플릿 코드를 컴파일하지 않는 옵션이 있습니다.
모든 종속성을 가져오지 않고도 라이브러리를 사용할 수 있도록 종속성을 최소화합니다.
사용자가 더 직관적이고 사용하기 쉬운 API를 사용할 수 있도록 구현과 공개 API를 현대화합니다.
사용자의 초기 학습 곡선을 낮추기 위해 빠른 시작 가이드, 예제 및 튜토리얼과 같은 다양한 리소스를 제공합니다.

논문 인용

만약 학술 논문에서 DART를 사용하신다면, 이 JOSS 논문 을 인용해 주시기 바랍니다 [BibTeX]

@article{Lee2018,
  doi = {10.21105/joss.00500},
  url = {https://doi.org/10.21105/joss.00500},
  year  = {2018},
  month = {Feb},
  publisher = {The Open Journal},
  volume = {3},
  number = {22},
  pages = {500},
  author = {Jeongseok Lee and Michael X. Grey and Sehoon Ha and Tobias Kunz and Sumit Jain and Yuting Ye and Siddhartha S. Srinivasa and Mike Stilman and C. Karen Liu},
  title = {{DART}: Dynamic Animation and Robotics Toolkit},
  journal = {The Journal of Open Source Software}
}