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Research-focused C++23 physics engine for robotics, animation, and machine learning, with Python bindings
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Today
— stars today
This week
+3 stars this week
This month
+12 stars this month
Momentum
18.0
growth rate 0.25%/day
# DART
<p align="center">
<img src="https://raw.githubusercontent.com/dartsim/dart/main/docs/dart_logo_377x107.jpg" alt="DART: Dynamic Animation and Robotics Toolkit">
</p>
<p align="center">
<a href="https://github.com/dartsim/dart/actions/workflows/ci_ubuntu.yml"><img src="https://github.com/dartsim/dart/actions/workflows/ci_ubuntu.yml/badge.svg" alt="CI Ubuntu"></a>
<a href="https://github.com/dartsim/dart/actions/workflows/ci_macos.yml"><img src="https://github.com/dartsim/dart/actions/workflows/ci_macos.yml/badge.svg" alt="CI macOS"></a>
<a href="https://github.com/dartsim/dart/actions/workflows/ci_windows.yml"><img src="https://github.com/dartsim/dart/actions/workflows/ci_windows.yml/badge.svg" alt="CI Windows"></a>
<br>
<a href="https://dart.readthedocs.io/en/latest/?badge=latest"><img src="https://readthedocs.org/projects/dart/badge/?version=latest" alt="Documentation Status"></a>
<a href="https://deepwiki.com/dartsim/dart"><img src="https://deepwiki.com/badge.svg" alt="Ask DeepWiki"></a>
<a href="https://codecov.io/gh/dartsim/dart"><img src="https://codecov.io/gh/dartsim/dart/branch/main/graph/badge.svg" alt="codecov"></a>
<a href="https://app.codacy.com/gh/dartsim/dart/dashboard?utm_source=github.com&utm_medium=referral&utm_content=dartsim/dart&utm_campaign=Badge_Grade"><img src="https://app.codacy.com/project/badge/Grade/2d95a9b951be4b73a71097670ec351e8" alt="Codacy Badge"></a>
<br>
<a href="https://anaconda.org/conda-forge/dartsim"><img src="https://anaconda.org/conda-forge/dartsim/badges/version.svg" alt="Anaconda-Server Badge"></a>
<a href="https://pypi.org/project/dartpy/"><img src="https://img.shields.io/pypi/v/dartpy" alt="PyPI Version"></a>
<a href="https://github.com/dartsim/dart/blob/main/LICENSE"><img src="https://img.shields.io/badge/License-BSD_2--Clause-blue.svg" alt="License"></a>
</p>
DART (Dynamic Animation and Robotics Toolkit) is an open-source,
research-focused physics engine for robotics, animation, and machine learning.
It provides transparent kinematics, dynamics, collision, and constraint-solving
foundations for users who need more than a black-box simulator. DART uses
generalized coordinates for articulated rigid body systems and Featherstone's
Articulated Body Algorithm for accurate, stable motion dynamics.
> [!IMPORTANT]
> **Which DART is this?** This `main` branch tracks **DART 7**, an in-progress
> redesign that is **not yet recommended for production use**. Its documentation
> is the [`latest`](https://dart.readthedocs.io/en/latest/) site.
>
> For a stable release, use **DART 6 LTS**:
> [documentation](https://dart.readthedocs.io/en/stable/) ·
> [`release-6.20` branch](https://github.com/dartsim/dart/tree/release-6.20).
<p align="center">
<img src="docs/assets/unitree_g1_demo.gif" width="720" alt="Unitree G1 humanoid demo" />
</p>
## Why DART?
- **Research-grade dynamics** — Featherstone algorithms, generalized coordinates, and direct access to dynamics quantities
- **Easy to start** — Python and C++ packages through common package managers, plus reproducible source builds with pixi
- **Extensible foundations** — Math, native collision, constraints, model loading, benchmarks, and tests that support new algorithms and baseline comparisons
- **Unified model loading** — Load URDF, SDF, and MJCF models through a single API
- **Scalable compute roadmap** — Cross-platform CPU support today, with roadmap work for multi-core, SIMD, and accelerator backends
- **Battle-tested ecosystem** — Powers [Gazebo](https://gazebosim.org), research labs, and production systems worldwide, with best-effort support for production use
## Quick Start
**Python**
```python
import dartpy as dart
import numpy as np
world = dart.World(time_step=1.0 / 1000.0)
# Add a 1 kg rigid body one metre above the origin.
options = dart.RigidBodyOptions()
options.mass = 1.0
options.position = np.array([0.0, 0.0, 1.0])
box = world.add_rigid_body("box", options)
# Lock topology, then simulateExcerpt of 10,954 characters
Read on GitHubWould you bet a product on this? Bounded 0–100 and slow moving.
matched fp:415bc57d5592f8c6, topic:robotics, topic:simulation, desc:robotics
