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[ Paquet source : dart  ]

Paquet : python3-dartpy (6.12.1+dfsg4-12 et autres)

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Kinematics Dynamics and Optimization Library - DART Python bindings

DART is a collaborative, cross-platform, open source library created by the Georgia Tech Graphics Lab and Humanoid Robotics Lab. The library provides data structures and algorithms for kinematic and dynamic applications in robotics and computer animation. DART is distinguished by it's accuracy and stability due to its use of generalized coordinates to represent articulated rigid body systems and computation of Lagrange's equations derived from D.Alembert's principle to describe the dynamics of motion. For developers, in contrast to many popular physics engines which view the simulator as a black box, DART gives full access to internal kinematic and dynamic quantities, such as the mass matrix, Coriolis and centrifugal forces, transformation matrices and their derivatives. DART also provides efficient computation of Jacobian matrices for arbitrary body points and coordinate frames. Contact and collision are handled using an implicit time-stepping, velocity-based LCP (linear-complementarity problem) to guarantee non-penetration, directional friction, and approximated Coulomb friction cone conditions. For collision detection, DART uses FCL developed by Willow Garage and the UNC Gamma Lab. DART has applications in robotics and computer animation because it features a multibody dynamic simulator and tools for control and motion planning. Multibody dynamic simulation in DART is an extension of RTQL8, an open source software created by the Georgia Tech Graphics Lab.

This package does not contain any file but install all development packages.

DART Python bindings.

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Télécharger python3-dartpy

Télécharger pour toutes les architectures proposées
Architecture Version Taille du paquet Espace occupé une fois installé Fichiers
amd64 6.12.1+dfsg4-12+b2 955,2 ko5 048,0 ko [liste des fichiers]
arm64 6.12.1+dfsg4-12+b2 814,7 ko4 908,0 ko [liste des fichiers]
armel 6.12.1+dfsg4-12+b2 813,5 ko4 415,0 ko [liste des fichiers]
armhf 6.12.1+dfsg4-12+b2 838,4 ko3 291,0 ko [liste des fichiers]
i386 6.12.1+dfsg4-12+b2 942,5 ko4 855,0 ko [liste des fichiers]
mips64el 6.12.1+dfsg4-12+b2 908,5 ko10 208,0 ko [liste des fichiers]
mipsel 6.12.1+dfsg4-12+b2 677,9 ko5 803,0 ko [liste des fichiers]
ppc64el 6.12.1+dfsg4-12+b2 1 144,6 ko9 004,0 ko [liste des fichiers]