dartsim ☆
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Description:
Dynamic Animation and Robotics Toolkit
Type: Formula  |  Latest Version: 6.16.1@0  |  Tracked Since: Dec 17, 2025
Links: Homepage  |  @dartsim  |  formulae.brew.sh
Category: Developer tools
Tags: robotics simulation dynamics kinematics c++
Install: brew install dartsim
About:
DARTS (Dynamic Animation and Robotics Toolkit) is an open-source library for kinematics and dynamics. It provides a comprehensive set of features for motion planning and simulation, enabling developers to build complex robotic systems efficiently.
Key Features:
  • Rigid body dynamics engine
  • Collision detection and constraint solving
  • Kinematics and inverse kinematics solvers
  • Graph-based optimization framework
Use Cases:
  • Robotics simulation and control
  • Animation and biomechanics research
  • Prototyping autonomous systems
Alternatives:
  • Bullet Physics – More focused on general game physics than robotics-specific kinematics
  • ODE – Simpler dynamics engine with fewer features for modern robotics
Version History
Detected Version Rev Change Commit
Sep 13, 2024 11:37pm 0 VERSION_BUMP 89659e5f
Jul 6, 2024 6:28pm 0 VERSION_BUMP a6f5ef46
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Jan 5, 2024 3:59pm 1 VERSION_BUMP 26c30722
Oct 1, 2023 5:51am 3 VERSION_BUMP 0c01c862
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Jan 28, 2023 12:16am 2 VERSION_BUMP bb84f736
Jan 28, 2023 12:16am 2 VERSION_BUMP 72f0ae2e
Jan 9, 2023 8:40pm 1 VERSION_BUMP 6170f7de
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Jan 1, 2023 3:58pm 0 VERSION_BUMP b4c94cab
Jan 1, 2023 3:58pm 0 VERSION_BUMP 9bb66b6c
Nov 19, 2022 10:07pm 1 VERSION_BUMP e0dfdf13
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