From f7d4541580d7b13999e4737f027dfb185d1a05aa 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 (cherry picked from commit 75a458b39ee3eaaca35a053e34abe8b1cc3de1d4) --- README.md | 71 +++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 71 insertions(+) diff --git a/README.md b/README.md index 10fed1312013b..6fc60503f71e0 100644 --- a/README.md +++ b/README.md @@ -5,6 +5,77 @@ 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 +``` + +#### Ubuntu (APT) + +```shell +sudo apt install libdart-all-dev +``` + +#### macOS (Homebrew) + +```shell +brew install dartsim +``` + +#### Windows (Vcpkg) + +```shell +vcpkg install dartsim:x64-windows +``` + +### Python + +Conda and Pixi are recommended for installing the Python interface. Please note +that the PyPI package is being deprecated to save maintenance efforts—help +wanted! + +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)