dartsim/dart

DART: Dynamic Animation and Robotics Toolkit

About the project

DART is an open-source C++23 physics engine that simulates the movement and interactions of articulated rigid-body systems for robotics, animation, and machine learning. Researchers and developers use it for kinematics, dynamics, collision handling, constraints, and loading robot models, with C++ and Python interfaces. The catalogue add-ons support workflows built around this engine.

This repository also configures its own agents. See what dart tells them →

Open on GitHub dart.readthedocs.io

1.2kStars on the repository

45Mods indexed here, across every type

todayLast push, which is what freshness is scored on

BSD-2-ClauseLicence, which decides whether bodies are shown

Sort Relevance Recently updated Fewest tokens Security grade Repo stars Stars this week Top rated 17 mods

dart-analyze

01

Command Claude Code

Analyze repository evidence without editing: $ARGUMENTS.

not rated 1.2k +3 changed 17d ago A 6 tokens original BSD-2-Clause

dart-backport-pr

02

Command Claude Code

backport a merged main PR to a stabilization or maintenance release branch.

not rated 1.2k +3 changed 4d ago A 13 tokens original BSD-2-Clause

dart-branch-cleanup

03

Command Claude Code

Command "dart-branch-cleanup" from dartsim/dart, covering required reading, modes, workflow and output.

not rated 1.2k +3 changed 10d ago A 7 tokens original BSD-2-Clause

dart-changelog

04

Command Claude Code

Maintain DART changelog entries: $ARGUMENTS.

not rated 1.2k +3 changed 3d ago A 14 tokens original BSD-2-Clause

dart-docs-update

05

Command Claude Code

Command "dart-docs-update" from dartsim/dart, covering required reading, workflow and output.

not rated 1.2k +3 changed 3d ago A 9 tokens original BSD-2-Clause

dart-downstream-fix

06

Command Claude Code

fix a DART bug reported through gz-physics or Gazebo.

not rated 1.2k +3 changed 4d ago A 13 tokens original BSD-2-Clause

dart-fix-ci

07

Command Claude Code

Command "dart-fix-ci" from dartsim/dart, covering required reading, workflow and output.

not rated 1.2k +3 changed 4d ago A 6 tokens original BSD-2-Clause

dart-manage-pr

08

Command Claude Code

manage an open DART pull request through CI, review, merge, and cleanup.

not rated 1.2k +3 changed 3d ago A 16 tokens original BSD-2-Clause

dart-mechanical-refactor

09

Command Claude Code

perform a behavior-preserving mechanical refactor.

not rated 1.2k +3 changed 10d ago A 8 tokens original BSD-2-Clause

dart-model-upgrade

10

Command Claude Code

Audit or update DART's AI infrastructure for: $ARGUMENTS.

not rated 1.2k +3 changed 4d ago A 32 tokens original BSD-2-Clause

dart-new-task

11

Command Claude Code

start a feature, bugfix, refactor, docs, build, or test task.

not rated 1.2k +3 changed 4d ago A 17 tokens original BSD-2-Clause

dart-pr

12

Command Claude Code needs its repo

create a branch, commit, push, and open a DART pull request.

not rated 1.2k +3 changed 3d ago A 15 tokens original BSD-2-Clause

dart-resume

13

Command Claude Code

Resume unfinished work to its real completion contract: $ARGUMENTS.

not rated 1.2k +3 changed 4d ago A 16 tokens original BSD-2-Clause

dart-retro

14

Command Claude Code

run a retrospective and capture durable lessons.

not rated 1.2k +3 changed 4d ago A 7 tokens original BSD-2-Clause

dart-review-pr

15

Command Claude Code

review a PR or address review feedback.

not rated 1.2k +3 changed 4d ago A 7 tokens original BSD-2-Clause

dart-ultrawork

16

Command Claude Code

Start a team-scale or autonomous DART task: $ARGUMENTS.

not rated 1.2k +3 changed yesterday A 23 tokens original BSD-2-Clause

dart-release-ci-fix

17

Command Claude Code

Command "dart-release-ci-fix" from dartsim/dart, covering required reading, workflow and output.

not rated 1.2k +3 changed 4d ago A 12 tokens original BSD-2-Clause

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