From d044bf464cb893c4c55fc314342363d227119c5c Mon Sep 17 00:00:00 2001 From: Jeongseok Lee Date: Sun, 10 Nov 2024 20:23:44 -0800 Subject: [PATCH] Add getting started section to readme --- README.md | 84 +++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 84 insertions(+) diff --git a/README.md b/README.md index 10fed1312013b..7f6d720b3d041 100644 --- a/README.md +++ b/README.md @@ -5,6 +5,90 @@ DART: Dynamic Animation and Robotics Toolkit

+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. + +## Getting Started + +DART provides both C++ and Python interfaces, which can be installed using +various package managers. For cross-platform compatibility, we recommend using +Conda or Pixi. + +### C++ + +#### Cross-Platform (Recommended) + +Conda: + +```shell +conda install -c conda-forge dartsim-cpp +``` + +Pixi: + +```shell +pixi add dartsim-cpp +``` + +#### Linux + +Ubuntu: + +```shell +sudo apt install libdart-all-dev +``` + +Arch Linux: + +```shell +yay -S libdart +``` + +FreeBSD: + +```shell +pkg install dartsim +``` + +#### macOS (Homebrew) + +```shell +brew install dartsim +``` + +#### Windows (Vcpkg) + +```shell +vcpkg install dartsim:x64-windows +``` + +### Python + +For the Python interface, we recommend using Conda or Pixi. Note that the PyPI +package is being deprecated to reduce maintenance—contributions are welcome! + +Conda: + +```shell +conda install -c conda-forge dartpy +``` + +Pixi: + +```shell +pixi add dartpy +``` + +PyPI (deprecated): + +```shell +pip install dartpy +``` + ## Documentation For more information on DART, please visit the DART documentation: [English](https://dart.readthedocs.io/) | [한국어](https://dart-ko.readthedocs.io/) (WIP)