Research-focused C++23 physics engine for robotics, animation, and machine learning, with Python bindings
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.
These files are dartsim/dart's own configuration. They tell Claude Code, Codex, OpenCode and Gemini CLI how to work on this repository, so they are not mods to install elsewhere. Copy one as a starting point and replace the parts that are about this project.
AGENTS.md A 2,223 tok CLAUDE.md A 97 tok GEMINI.md A 97 tok .claude/settings.json A — .claude/settings.json A — .agents/skills/dart-analyze/SKILL.md A 13 tok .agents/skills/dart-architecture/SKILL.md A 32 tok .agents/skills/dart-audit-agent-compliance/SKILL.md A 25 tok .agents/skills/dart-backport-pr/SKILL.md A 21 tok .agents/skills/dart-benchmark-packet/SKILL.md A 22 tok .agents/skills/dart-branch-cleanup/SKILL.md A 17 tok .agents/skills/dart-build/SKILL.md A 18 tok .agents/skills/dart-changelog/SKILL.md A 22 tok .agents/skills/dart-ci/SKILL.md A 18 tok .agents/skills/dart-close-issue/SKILL.md A 20 tok .agents/skills/dart-contribute/SKILL.md A 24 tok .agents/skills/dart-deps/SKILL.md A 18 tok .agents/skills/dart-docs-update/SKILL.md A 19 tok .agents/skills/dart-downstream-fix/SKILL.md A 25 tok .agents/skills/dart-execute-packet/SKILL.md A 25 tok .agents/skills/dart-fix-ci/SKILL.md A 20 tok .agents/skills/dart-fix-issue/SKILL.md A 22 tok .agents/skills/dart-io/SKILL.md A 24 tok .agents/skills/dart-manage-pr/SKILL.md A 26 tok .agents/skills/dart-mechanical-refactor/SKILL.md A 20 tok .agents/skills/dart-model-upgrade/SKILL.md A 45 tok .agents/skills/dart-new-task/SKILL.md A 26 tok .agents/skills/dart-next/SKILL.md A 25 tok .agents/skills/dart-plan-update/SKILL.md A 16 tok .agents/skills/dart-pr/SKILL.md A 22 tok .agents/skills/dart-python/SKILL.md A 20 tok .agents/skills/dart-references/SKILL.md A 28 tok .agents/skills/dart-release-merge-main/SKILL.md A 20 tok .agents/skills/dart-release-packaging/SKILL.md A 19 tok .agents/skills/dart-resume/SKILL.md A 14 tok .agents/skills/dart-retro/SKILL.md A 19 tok .agents/skills/dart-review-pr/SKILL.md A 16 tok .agents/skills/dart-test/SKILL.md A 18 tok .agents/skills/dart-triage-issue/SKILL.md A 23 tok .agents/skills/dart-ultrawork/SKILL.md A 35 tok .agents/skills/dart-verify-sim/SKILL.md A 40 tok .claude/commands/dart-analyze.md A 6 tok .claude/commands/dart-audit-agent-compliance.md A 12 tok .claude/commands/dart-backport-pr.md A 10 tok .claude/commands/dart-benchmark-packet.md A 11 tok .claude/commands/dart-branch-cleanup.md A 7 tok .claude/commands/dart-changelog.md A 14 tok .claude/commands/dart-close-issue.md A 10 tok .claude/commands/dart-deps.md A 9 tok .claude/commands/dart-docs-update.md A 9 tok .claude/commands/dart-downstream-fix.md A 13 tok .claude/commands/dart-execute-packet.md A 14 tok .claude/commands/dart-fix-ci.md A 10 tok .claude/commands/dart-fix-issue.md A 11 tok .claude/commands/dart-manage-pr.md A 16 tok .claude/commands/dart-mechanical-refactor.md A 8 tok .claude/commands/dart-model-upgrade.md A 35 tok .claude/commands/dart-new-task.md A 17 tok .claude/commands/dart-next.md A 18 tok .claude/commands/dart-plan-update.md A 8 tok .claude/commands/dart-pr.md A 15 tok .claude/commands/dart-release-merge-main.md A 8 tok .claude/commands/dart-release-packaging.md A 9 tok .claude/commands/dart-resume.md A 6 tok .claude/commands/dart-retro.md A 12 tok .claude/commands/dart-review-pr.md A 7 tok .claude/commands/dart-triage-issue.md A 10 tok .claude/commands/dart-ultrawork.md A 23 tok