Install dartpy on macOS | DART: Dynamic Animation and Robotics Toolkit

Install dartpy using pip3

# Dependencies
brew install dartsim --only-dependencies
brew install pybind11

# This can take several minutes to build dartpy from source
pip3 install dartpy

Warning: Known issues: (1) Pip install of dartpy on Anaconda environment does’t work; import error. (2) Uninstalling pip-installed dartpy doesn’t completely remove dartpy.so, and this leads to incorrect re-installing.

Once installed, you can simply test if dartpy is successfully installed by running:

$ python3
>>> import dartpy as dart
>>> world = dart.simulation.World()
>>> world.step()

Install dartpy from Source

Install Required Dependencies

brew install dartsim --only-dependencies
brew install pybind11

Build and Install dartpy

Clone the repository into a directory in your home folder:
```
git clone https://github.com/dartsim/dart.git
```
Change directory to the DART repository and checkout the latest release of DART 6 (e.g., v6.11.1):
```
cd dart
git checkout tags/v6.11.1
```
Create a build directory:
```
mkdir build
cd build
```

Configure and build DART:

cmake .. -DCMAKE_INSTALL_PREFIX=/usr/ -DCMAKE_BUILD_TYPE=Release -DDART_BUILD_DARTPY=ON
make -j4 dartpy

Install dartpy:
```
sudo make install-dartpy
```