软件包：python3-dartpy（6.13.2+ds-1 以及其他的）
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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.
其他与 python3-dartpy 有关的软件包
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- dep: libc6 (>= 2.34)
- GNU C 语言运行库：共享库
同时作为一个虚包由这些包填实： libc6-udeb
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- dep: libdart-collision-bullet6.13 (>= 6.13.2+ds)
- Kinematics Dynamics and Optimization Library - Bullet Collision Library
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- dep: libdart-collision-ode6.13 (>= 6.13.2+ds)
- Kinematics Dynamics and Optimization Library - ODE Collision Library
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- dep: libdart-gui-osg6.13 (>= 6.13.2+ds)
- Kinematics Dynamics and Optimization Library - gui-osg library
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- dep: libdart-optimizer-nlopt6.13 (>= 6.13.2+ds)
- Kinematics Dynamics and Optimization Library - nlopt optimizer lib
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- dep: libdart-utils-urdf6.13 (>= 6.13.2+ds)
- Kinematics Dynamics and Optimization Library - Utils URDF Library
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- dep: libdart-utils6.13 (>= 6.13.2+ds)
- Kinematics Dynamics and Optimization Library - utils library
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- dep: libdart6.13 (>= 6.13.2+ds)
- Kinematics Dynamics and Optimization Library - main library
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- dep: libfcl0.7 (>= 0.7.0)
- Flexible Collision Library - shared library
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- dep: libgcc-s1 (>= 3.3.1)
- GCC 支持库
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- dep: libglx0
- Vendor neutral GL dispatch library -- GLX support
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- dep: libopenscenegraph161 (>= 3.6.5+dfsg1)
- 3D scene graph, shared libs
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- dep: libpython3.12t64 (>= 3.12.1)
- Shared Python runtime library (version 3.12)
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- dep: libstdc++6 (>= 13.1)
- GNU 标准 C++ 库，第3版
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- dep: liburdfdom-world3.0 (>= 3.0.1)
- URDF DOM - world library
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- dep: python3 (<< 3.13)
- interactive high-level object-oriented language (default python3 version)
- dep: python3 (>= 3.12~)