DART (Dynamic Animation and Robotics Toolkit) is a library for kinematic and dynamic applications in robotics and computer animation.
It represents articulated rigid-body systems using generalised coordinates and uses Featherstone-based algorithms for calculating motion dynamics. Developers are given detailed access to internal kinematic and dynamic quantities, making DART useful for simulation, control, motion planning and robotics research where precise manipulation of the underlying model is important.
DART provides C++ and Python interfaces. Its architecture supports complex articulated systems while remaining extensible enough to integrate additional algorithms, solvers and application-specific components.
This is free and open source software.
Key Features
- Loads robot and environment models described using URDF and SDF.
- Provides multiple numerical integration methods with an extensible interface for additional integrators.
- Supports FCL, Bullet and ODE collision detectors along with minimum-distance computation.
- Handles primitive, mesh and probabilistic voxel collision shapes.
- Offers extensive access to transformations, velocities, accelerations, Jacobian matrices and their derivatives.
- Includes modular inverse kinematics facilities and hierarchical whole-body inverse kinematics.
- Supports rigid and soft body nodes, multiple actuator types, joint friction and joint limits.
- Models articulated dynamics using Lie Group representations and Featherstone algorithms.
- Provides constraint solvers for contacts, friction and closed-loop dynamic systems.
- Includes visualisation facilities and interfaces for optimisation problems.
- Supports both C++ and Python application development.
Website: github.com/dartsim/dart
Support:
Developer: Graphics Lab and Humanoid Robotics Lab at Georgia Institute of Technology
License: BSD 2-Clause ‘Simplified’ License
DART is written in C++. Learn C++ with our recommended free books and free tutorials.
Related Software
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| Choreonoid | Integrated graphical framework for robotics development |
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